├── .github ├── pull_request_template.md ├── rmf │ └── Dockerfile └── workflows │ ├── nexus_integration_tests.yaml │ ├── nexus_unit_tests.yaml │ ├── nexus_workcell_editor.yaml │ └── style.yaml ├── .gitignore ├── LICENSE ├── README.md ├── abb.repos ├── docs ├── concepts.md └── media │ ├── bt_example.png │ ├── nexus_architecture.png │ └── nexus_demo.png ├── generate_endpoints.sh ├── nexus_calibration ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ └── sample_config.yaml ├── package.xml ├── src │ ├── calibration_node.cpp │ └── calibration_node.hpp └── test │ ├── nexus_calibration.launch.py │ ├── test_config.yaml │ └── test_world.world ├── nexus_capabilities ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── nexus_capabilities │ │ ├── capability.hpp │ │ ├── context.hpp │ │ ├── context_manager.hpp │ │ ├── conversions │ │ └── pose_stamped.hpp │ │ ├── exceptions.hpp │ │ ├── task.hpp │ │ ├── task_checker.hpp │ │ └── utils.hpp ├── package.xml └── src │ ├── capabilities │ ├── detection.cpp │ ├── detection.hpp │ ├── detection_capability.cpp │ ├── detection_capability.hpp │ ├── dispense_item.cpp │ ├── dispense_item.hpp │ ├── dispense_item_capability.cpp │ ├── dispense_item_capability.hpp │ ├── dispense_item_task_data.hpp │ ├── execute_trajectory.cpp │ ├── execute_trajectory.hpp │ ├── execute_trajectory_capability.cpp │ ├── execute_trajectory_capability.hpp │ ├── gripper_capability.cpp │ ├── gripper_capability.hpp │ ├── gripper_control.cpp │ ├── gripper_control.hpp │ ├── plan_motion.cpp │ ├── plan_motion.hpp │ ├── plan_motion_capability.cpp │ ├── plan_motion_capability.hpp │ ├── plugins.xml │ ├── rmf_request.cpp │ ├── rmf_request.hpp │ ├── rmf_request_capability.cpp │ └── rmf_request_capability.hpp │ ├── conversions │ └── pose_stamped.cpp │ └── task_checkers │ ├── filepath_checker.cpp │ └── plugins.xml ├── nexus_cmake ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── cmake-extras.cmake ├── cmake │ ├── generate_install_path.cmake │ └── install_path.hpp.in └── package.xml ├── nexus_common ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ ├── nexus_common │ │ ├── action_client_bt_node.hpp │ │ ├── batch_service_call.hpp │ │ ├── bt_store.hpp │ │ ├── exceptions.hpp │ │ ├── lifecycle_service_client.hpp │ │ ├── logging.hpp │ │ ├── models │ │ │ ├── geometry.hpp │ │ │ ├── item.hpp │ │ │ ├── metadata.hpp │ │ │ ├── vision.hpp │ │ │ └── work_order.hpp │ │ ├── node_thread.hpp │ │ ├── node_utils.hpp │ │ ├── pausable_sequence.hpp │ │ ├── pretty_print.hpp │ │ ├── service_client_bt_node.hpp │ │ ├── sync_service_client.hpp │ │ ├── task_remapper.hpp │ │ └── yaml_helpers.hpp │ └── nexus_common_test │ │ └── test_utils.hpp ├── package.xml └── src │ ├── action_client_bt_node_test.cpp │ ├── batch_service_call_test.cpp │ ├── bt_store.cpp │ ├── logging.cpp │ ├── logging_test.cpp │ ├── main_test.cpp │ ├── models │ ├── item_test.cpp │ └── work_order_test.cpp │ ├── node_thread.cpp │ ├── node_utils.cpp │ ├── pausable_sequence.cpp │ ├── pausable_sequence_test.cpp │ ├── service_client_bt_node_test.cpp │ ├── sync_ros_client_test.cpp │ ├── task_remapper.cpp │ ├── task_remapper_test.cpp │ └── test_utils.cpp ├── nexus_demos ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── abb_irb1300_controllers.yaml │ ├── abb_irb1300_planner_params.yaml │ ├── abb_irb910sc_controllers.yaml │ ├── abb_irb910sc_planner_params.yaml │ ├── mock_detector_config.yaml │ ├── pick_and_place_amr.json │ ├── pick_and_place_conveyor.json │ ├── pick_from_conveyor.json │ ├── place_on_conveyor.json │ ├── product_detector_config.yaml │ ├── rmf │ │ ├── deliveryRobot_config.yaml │ │ └── maps │ │ │ └── depot │ │ │ ├── depot.building.yaml │ │ │ ├── depot_scan.png │ │ │ └── depot_template.sdf │ ├── system_bts │ │ ├── main.xml │ │ └── pick_and_place.xml │ ├── workcell_1_bts │ │ ├── invalid_place_on_conveyor.xml │ │ ├── place_on_amr.xml │ │ └── place_on_conveyor.xml │ ├── workcell_1_io_config.yaml │ ├── workcell_2_bts │ │ ├── pick_from_amr.xml │ │ └── pick_from_conveyor.xml │ ├── workcell_2_io_config.yaml │ ├── workcell_task.yaml │ └── zenoh │ │ └── nexus_network_config.yaml ├── launch │ ├── include │ │ ├── abb_irb1300_moveit.launch.py │ │ ├── abb_irb910sc_moveit.launch.py │ │ └── nexus_control.launch.py │ ├── inter_workcell.launch.py │ ├── launch.py │ ├── rmf_transporter.launch.xml │ ├── workcell.launch.py │ ├── workcell_1_tf.launch.py │ ├── workcell_2_tf.launch.py │ └── zenoh_bridge.launch.py ├── managed_process.py ├── nexus_test_case.py ├── package.xml ├── ros_testcase.py ├── rviz │ ├── nexus_panel.rviz │ └── nexus_panel_rmf.rviz ├── scripts │ └── activate_node.py ├── src │ ├── mock_detector.cpp │ ├── mock_detector.hpp │ ├── mock_emergency_alarm.cpp │ ├── mock_gripper.cpp │ ├── mock_gripper.hpp │ ├── mock_printer.cpp │ ├── test_mock_detector.cpp │ └── test_mock_gripper.cpp ├── test │ └── main.cpp ├── test_invalid_place_on_conveyor.py ├── test_parallel_duplicated_wo.py ├── test_parallel_pick_and_place_rmf.py.disabled ├── test_parallel_wo.py ├── test_pick_and_place.py └── test_pick_and_place_rmf.py ├── nexus_endpoints.redf.yaml ├── nexus_endpoints ├── CHANGELOG.rst ├── CMakeLists.txt ├── nexus_endpoints.hpp └── package.xml ├── nexus_gazebo ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── nexus_gazebo │ │ ├── Components.hh │ │ ├── MotionCaptureRigidBody.hh │ │ └── MotionCaptureSystem.hh ├── models │ ├── motion_capture_rigid_body │ │ ├── model.config │ │ └── motion_capture_rigid_body.sdf │ └── motion_capture_system │ │ ├── model.config │ │ └── motion_capture_system.sdf ├── nexus_gazebo_gazebo_paths.dsv.in ├── package.xml ├── src │ ├── MotionCaptureRigidBody.cc │ └── MotionCaptureSystem.cc └── worlds │ └── example.sdf ├── nexus_lifecycle_manager ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── nexus_lifecycle_manager │ │ ├── lifecycle_manager.hpp │ │ ├── lifecycle_manager_client.hpp │ │ └── lifecycle_transitions.hpp ├── launch │ └── lifecycle_manager.launch.py ├── package.xml ├── src │ ├── lifecycle_manager_client.cpp │ └── main.cpp └── test │ ├── main.cpp │ └── test_lifecycle_manager.cpp ├── nexus_motion_planner ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── planner_params.yaml │ └── planner_params_with_cache.yaml ├── docs │ └── planner_server.png ├── launch │ └── demo_planner_server.launch.py ├── package.xml ├── src │ ├── main.cpp │ ├── motion_plan_cache.cpp │ ├── motion_plan_cache.hpp │ ├── motion_planner_server.cpp │ ├── motion_planner_server.hpp │ ├── test_motion_plan_cache.cpp │ └── test_request.cpp └── test │ ├── test_motion_plan_cache.py │ ├── test_request.test.py │ └── test_request_with_cache.test.py ├── nexus_msgs ├── nexus_alarm_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── msgs │ │ └── EmergencyStop.msg │ └── package.xml ├── nexus_calibration_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ └── srv │ │ └── CalibrateExtrinsics.srv ├── nexus_detector_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── srv │ │ └── Detect.srv ├── nexus_dispenser_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── srv │ │ └── DispenseItem.srv ├── nexus_lifecycle_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── srv │ │ └── ManageLifecycleNodes.srv ├── nexus_motion_planner_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── package.xml │ └── srv │ │ └── GetMotionPlan.srv ├── nexus_orchestrator_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ │ ├── ExecuteWorkOrder.action │ │ └── WorkcellTask.action │ ├── msg │ │ ├── ItemAtStation.msg │ │ ├── ItemDescription.msg │ │ ├── ItemTypeToStationAssignment.msg │ │ ├── TaskProgress.msg │ │ ├── TaskState.msg │ │ ├── WorkOrder.msg │ │ ├── WorkOrderState.msg │ │ ├── WorkcellDescription.msg │ │ ├── WorkcellState.msg │ │ └── WorkcellTask.msg │ ├── package.xml │ └── srv │ │ ├── GetWorkOrderState.srv │ │ ├── IsTaskDoable.srv │ │ ├── ListTransporters.srv │ │ ├── ListWorkcells.srv │ │ ├── PauseSystem.srv │ │ ├── PauseWorkcell.srv │ │ ├── QueueWorkcellTask.srv │ │ ├── RegisterTransporter.srv │ │ ├── RegisterWorkcell.srv │ │ ├── RemovePendingTask.srv │ │ └── Signal.srv └── nexus_transporter_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── README.md │ ├── action │ └── Transport.action │ ├── msg │ ├── Destination.msg │ ├── TransportationRequest.msg │ └── TransporterState.msg │ ├── package.xml │ └── srv │ └── IsTransporterAvailable.srv ├── nexus_network_configuration ├── CHANGELOG.rst ├── README.md ├── nexus_network_configuration │ ├── __init__.py │ └── nexus_network_configuration.py ├── package.xml ├── resource │ └── nexus_network_configuration ├── schemas │ └── nexus_network_schema.json ├── scripts │ └── set_up_network.sh ├── setup.cfg └── setup.py ├── nexus_robot_controller ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── config │ ├── rrbot_demo │ │ ├── demo_params.yaml │ │ ├── rrbot.rviz │ │ └── rrbot_controllers.yaml │ └── test_abb_irb910sc_controllers.yaml ├── include │ └── nexus_robot_controller │ │ └── robot_controller_server.hpp ├── launch │ ├── include │ │ └── rrbot_base.launch.py │ └── rrbot_demo.launch.py ├── package.xml ├── src │ ├── robot_controller_server.cpp │ └── robot_controller_server_node.cpp └── test │ ├── abb_irb910sc_test_params.yaml │ └── robot_controller_abb_irb910sc.test.py ├── nexus_rviz_plugins ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── nexus_rviz_plugins │ │ ├── nexus_panel.hpp │ │ └── ros_action_qevent.hpp ├── package.xml ├── plugins_description.xml └── src │ └── nexus_panel.cpp ├── nexus_system_orchestrator ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── package.xml └── src │ ├── bid_transporter.cpp │ ├── bid_transporter.hpp │ ├── context.cpp │ ├── context.hpp │ ├── create_transporter_task.cpp │ ├── create_transporter_task.hpp │ ├── exceptions.hpp │ ├── execute_task.cpp │ ├── execute_task.hpp │ ├── for_each_task.cpp │ ├── for_each_task.hpp │ ├── job.hpp │ ├── send_signal.cpp │ ├── send_signal.hpp │ ├── session.hpp │ ├── system_orchestrator.cpp │ ├── system_orchestrator.hpp │ ├── transporter_request.cpp │ ├── transporter_request.hpp │ ├── workcell_request.cpp │ └── workcell_request.hpp ├── nexus_transporter ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── include │ └── nexus_transporter │ │ ├── Itinerary.hpp │ │ └── Transporter.hpp ├── package.xml ├── src │ ├── TransporterNode.cpp │ ├── TransporterNode.hpp │ ├── nexus_transporter │ │ └── Itinerary.cpp │ └── transporters │ │ ├── mock_transporter.cpp │ │ ├── plugins.xml │ │ └── rmf_transporter.cpp └── test │ ├── main.cpp │ └── test_Itinerary.cpp ├── nexus_tree_nodes.xml ├── nexus_workcell_editor ├── .gitignore ├── CHANGELOG.rst ├── Cargo.toml ├── README.md ├── package.xml ├── src │ ├── main.rs │ ├── main_menu.rs │ ├── ros_context.rs │ └── workcell_calibration.rs └── test │ └── test.workcell.json ├── nexus_workcell_orchestrator 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