Configure ada_feeding for Articulable Fork

[jjaime2]

Description

This pull request modularizes the entire ada_feeding stack to dynamically load the robot description, defines controllers and move groups, and updates static configurations for a specified end_effector_tool. When launching the ada_feeding software stack, setting the end_effector_tool to either fork or articulable_fork will require that the necessary hardware be assembled and connected, but will otherwise be able to complete the end-to-end feeding task in the same manner.

A prerequisite to testing these changes is having your development machine setup according to the Software Installation section of the Articulable Fork Assembly Guide

Related PRs: personalrobotics/ada_ros2#52, personalrobotics/ada_ros2#53, personalrobotics/ada_ros2#54

To test on the real hardware, first connect the appropriate hardware to your development machine via USB, e.g. for end_effector_tool = fork only connect the Jaco to your machine, and for end_effector_tool = articulable_fork connect both the Jaco and Articulable Fork to your machine

Testing procedure

• Run python3 src/ada_feeding/start.py --sim <real / mock> --end_effector_tool <tool> for each <tool> in fork, articulable_fork.
  • In RViz2, observe that the appropriate robot description has been loaded visually
  • Within the MotionPlanning window in RViz2, open the PlanningGroup drop-down menu and observe that the available options are ada, articulable_fork, hand, and jaco_arm. Set the PlanningGroup to hand for now, and toggle Displays -> MotionPlanning on/off to avoid visual glitches in RViz2.
  • When prepared (i.e. you think you can observe the motions ADA will execute for feeding), open the web application and click Start Feeding to move ADA into the AbovePlate configuration
  • In the camera feed, select a food item of interest (or in simulation, just click anywhere near the plate)
  • Be prepared to observe ADA's motion, then select any appropriate food mask,
  • Observe ADA's motion for bite acquisition, and verify that ADA moves above the food item and performs a downwards vertical skewer motion to acquire the food
  • Click the Move to mouth button, and observe ADA's motion as it orients the fork towards the front of the user's face
  • Click Continue and observe ADA move the fork towards the user's mouth, but stop after achieving a set distance
  • Click Move above plate and observe ADA move the fork away from the user's mouth, and move into the AbovePlate configuration
  • At this point, you can repeat bite acquisition if necessary. Otherwise, click Done eating and observe ADA moving into the Stow configuration

Before opening a pull request

• pre-commit run --all-files
• Run your code through pylint. pylint --recursive=y --rcfile=.pylintrc .. All warnings but fixme must be addressed.

Before Merging

• Squash & Merge