robossembler/cnc-graver-assist
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refactor(Grasp): use MoveitMtp

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This commit is contained in:
Ilya Uraev 2025-03-10 14:51:32 +03:00
parent f211c0fd8e
commit 5f15b417ab
2 changed files with 2 additions and 2 deletions
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2
rbs_mill_assist/bt/xmls/Grasp.xml
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@ -4,7 +4,7 @@
<Sequence>
<Action ID="GetGraspPlacePose" action_name="{action_name}" pre_pose="{pregrasp}" pose="{grasp}" post_pose="{postgrasp}" service_name="/get_pick_place_poses" />
<Action ID="MoveToPose" pose="{pregrasp}" robot_name="{robot_name}" duration="4" action_name="/mtp_jtc" />
<Action ID="MoveToPose" pose="{pregrasp}" robot_name="{robot_name}" duration="4" action_name="/mtp_moveit" />
<Action ID="ToggleVacuumGrippper" enable="true" service_name="/gz_ros2_vacuum_gripper_plugin/toggle" />
<Action ID="MoveToPose" pose="{grasp}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />
<Action ID="MoveToPose" pose="{postgrasp}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />

2
rbs_mill_assist/bt/xmls/Place.xml
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@ -4,7 +4,7 @@
<Sequence>
<Action ID="GetGraspPlacePose" action_name="{action_name}" pre_pose="{preplace}" pose="{place}" post_pose="{postplace}" service_name="/get_pick_place_poses" />
<Action ID="MoveToPose" pose="{preplace}" robot_name="{robot_name}" duration="4" action_name="/mtp_jtc" />
<Action ID="MoveToPose" pose="{preplace}" robot_name="{robot_name}" duration="4" action_name="/mtp_moveit" />
<Action ID="MoveToPose" pose="{place}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />
<Action ID="ToggleVacuumGrippper" enable="false" service_name="/gz_ros2_vacuum_gripper_plugin/toggle" />
<Action ID="MoveToPose" pose="{postplace}" robot_name="{robot_name}" duration="2" action_name="/mtp_jtc_cart" />