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Motion planner (MoveIt) and Task planner (Plansys) integration

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Roman Andrianov 2023-04-30 11:46:52 +00:00 • committed by Igor Brylyov
parent 0a735b87c9
commit 000ddb4831
43 changed files with 1402 additions and 379 deletions
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57
rbs_bt_executor/bt_trees/assemble.xml Normal file
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<?xml version="1.0"?>
<root main_tree_to_execute="Assemble">
<BehaviorTree ID="Assemble">
<Sequence>
<Action ID="DetectObject" ReqKind="FOLLOW" ObjectName="${arg0}"
server_name="/ground_true/scene_component" server_timeout="1000"/>
<Action ID="AssembleState" StateKind="INITIALIZE" PartName="${arg0}"
AssembleName="${arg2}" WorkspaceName="${arg3}" server_name="/assemble_state"
server_timeout="1000"/>
<Action ID="GetPickPlacePoses" ObjectName="${arg0}" GraspDirection = "y" PlaceDirection = "z"
GraspPose="{GraspPose}" PostGraspPose="{PostGraspPose}" PostPostGraspPose="{PostPostGraspPose}"
PreGraspPose="{PreGraspPose}" PlacePose="{PlacePose}" PrePlacePose="{PrePlacePose}"
PostPlacePose="{PostPlacePose}" server_name="/get_pick_place_pose_service" server_timeout="1000"/>
<Action ID="MoveToPose" robot_name="${arg4}" pose="{PreGraspPose}"
server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
<Action ID="MoveToPose" robot_name="${arg4}" pose="{GraspPose}"
server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
<Action ID="GripperControl" pose = "close" server_name="/gripper_control"
server_timeout="10" cancel_timeout="5" />
<Action ID="MoveToPose" robot_name="${arg4}" pose="{PostGraspPose}"
server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
<Action ID="MoveToPose" robot_name="${arg4}" pose="{PostPostGraspPose}"
server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
<Action ID="MoveToPose" robot_name="${arg4}" pose="{PrePlacePose}"
server_name="/move_topose" server_timeout="10000" cancel_timeout="5000" />
<Action ID="MoveToPose" robot_name="${arg4}" pose="{PlacePose}"
server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
<Action ID="GripperControl" pose = "open" server_name="/gripper_control"
server_timeout="10" cancel_timeout="5" />
<Action ID="MoveToPose" robot_name="${arg4}" pose="{PostPlacePose}"
server_name="/move_cartesian" server_timeout="10000" cancel_timeout="5000" />
`
<Action ID="AssembleState" StateKind="VALIDATE" PartName="${arg0}"
AssembleName="${arg2}" WorkspaceName="${arg3}" server_name="/assemble_state"
server_timeout="1000"/>
<Action ID="AssembleState" StateKind="COMPLETE" PartName="${arg0}"
AssembleName="${arg2}" WorkspaceName="${arg3}" server_name="/assemble_state"
server_timeout="1000"/>
<Action ID="DetectObject" ReqKind="CANCEL" ObjectName="${arg0}"
server_name="/ground_true/scene_component" server_timeout="1000"/>
</Sequence>
</BehaviorTree>
</root>