runtime/rbs_bt_executor/bt_trees/test_tree.xml

<?xml version='1.0' encoding='utf-8'?>
<root BTCPP_format="4">
    <BehaviorTree ID="TestTree">
        <Sequence>
      <!-- <Action ID="EnvManager" env_class="gz_enviroment::GzEnviroment" env_name="gz_enviroment"  -->
        <!-- service_name="/env_manager/start_env" /> -->
          <SubTree ID="WorkspaceMovement" robot_name="rbs_arm" />
        </Sequence>
    </BehaviorTree>

  <TreeNodesModel>

    <Action ID="GetWorkspace">
      <input_port name="type"/>
      <input_port name="service_name"/>
      <output_port name="workspace" />
    </Action>

  </TreeNodesModel>
  </root>
Migration to BT.cpp v4 & new BT executor 2024-07-04 12:11:07 +00:00			`<?xml version='1.0' encoding='utf-8'?>`
			`<root BTCPP_format="4">`
			`<BehaviorTree ID="TestTree">`
Migrate to Gazebo Fortress 2023-02-03 07:04:12 +00:00			`<Sequence>`
rbs_gym multi camera and multi object setup 2024-09-12 14:44:58 +03:00			`<!-- <Action ID="EnvManager" env_class="gz_enviroment::GzEnviroment" env_name="gz_enviroment" -->`
			`<!-- service_name="/env_manager/start_env" /> -->`
feat: improve behavior tree executor and dependency management - CMakeLists.txt: - Commented out the unused `rbs_env_manager_starter` library. - Behavior Trees: - Added new `grasp_object.xml` behavior tree for grasping operations. - Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree. - Source Code Updates: - Removed `EnvManager.cpp`, deprecating its functionality. - Formatting `GetWorkspace.cpp` - Formatting `MoveGripper.cpp` - Formatting `MoveToJointStates.cpp` - Formatting `PoseEstimation.cpp` and `TreeRunner.cpp` - Assembly Config Service: - Added broadcasting for grasp pose transformations in `assembly_config_service.py`. These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor. 2024-12-09 18:25:32 +03:00			`<SubTree ID="WorkspaceMovement" robot_name="rbs_arm" />`
Migrate to Gazebo Fortress 2023-02-03 07:04:12 +00:00			`</Sequence>`
			`</BehaviorTree>`
rbs_gym multi camera and multi object setup 2024-09-12 14:44:58 +03:00
			`<TreeNodesModel>`

			`<Action ID="GetWorkspace">`
			`<input_port name="type"/>`
			`<input_port name="service_name"/>`
			`<output_port name="workspace" />`
			`</Action>`

			`</TreeNodesModel>`
Migration to BT.cpp v4 & new BT executor 2024-07-04 12:11:07 +00:00			`</root>`