robossembler/runtime
7
0
Fork 0
Code Issues 5 Pull requests Projects Releases Packages Wiki Activity Actions

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

Browse source
This commit is contained in:
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
Download patch file Download diff file Expand all files Collapse all files

67
rbs_bt_executor/src/AssembleProcessState.cpp Normal file
View file

@ -0,0 +1,67 @@
#include <string>
#include <behavior_tree/BtService.hpp>
#include <rclcpp/rclcpp.hpp>
#include "rbs_skill_interfaces/srv/assemble_state.hpp"
using AssembleStateSrv = rbs_skill_interfaces::srv::AssembleState;
class AssembleState : public BtService<AssembleStateSrv>
{
public:
AssembleState(const std::string & name, const BT::NodeConfiguration &config)
: BtService<AssembleStateSrv>(name, config)
{
RCLCPP_INFO_STREAM(_node->get_logger(), "Start node.");
}
AssembleStateSrv::Request::SharedPtr populate_request()
{
auto request = std::make_shared<AssembleStateSrv::Request>();
auto state_kind = getInput<std::string>("StateKind").value();
request->req_kind = -1;
if (state_kind == "INITIALIZE")
request->req_kind = 0;
else if (state_kind == "VALIDATE")
request->req_kind = 1;
else if (state_kind == "COMPLETE")
request->req_kind = 2;
auto assemble_name = getInput<std::string>("AssembleName").value();
auto part_name = getInput<std::string>("PartName").value();
auto workspace = getInput<std::string>("WorkspaceName").value();
request->assemble_name = assemble_name;
request->part_name = part_name;
request->workspace = workspace;
return request;
}
BT::NodeStatus handle_response(AssembleStateSrv::Response::SharedPtr response)
{
// TODO: return bad status on validate process return false state
return (response->call_status = true)? BT::NodeStatus::SUCCESS: BT::NodeStatus::FAILURE;
}
static BT::PortsList providedPorts()
{
return providedBasicPorts({
BT::InputPort<std::string>("StateKind"),
BT::InputPort<std::string>("AssembleName"),
BT::InputPort<std::string>("PartName"),
BT::InputPort<std::string>("WorkspaceName")
});
}
private:
std::map<std::string, int> assemble_states_;
};
#include "behaviortree_cpp_v3/bt_factory.h"
BT_REGISTER_NODES(factory)
{
factory.registerNodeType<AssembleState>("AssembleState");
}

51
rbs_bt_executor/src/DetectObject.cpp Normal file
View file

@ -0,0 +1,51 @@
#include <string>
#include <behavior_tree/BtService.hpp>
#include <rclcpp/rclcpp.hpp>
#include <component_interfaces/srv/detect_object.hpp>
using DetectObjectSrv = component_interfaces::srv::DetectObject;
class DetectObject: public BtService<DetectObjectSrv>
{
public:
DetectObject(const std::string &name, const BT::NodeConfiguration &config)
: BtService<DetectObjectSrv>(name, config)
{
RCLCPP_INFO_STREAM(_node->get_logger(), "Start node.");
}
DetectObjectSrv::Request::SharedPtr populate_request()
{
auto request = std::make_shared<DetectObjectSrv::Request>();
auto req_kind = getInput<std::string>("ReqKind").value();
if (req_kind == "DETECT")
request->req_kind = 0;
else if (req_kind == "FOLLOW")
request->req_kind = 1;
else
request->req_kind = 2;
request->object_name = getInput<std::string>("ObjectName").value();
return request;
}
BT::NodeStatus handle_response(DetectObjectSrv::Response::SharedPtr response)
{
return response->call_status? BT::NodeStatus::SUCCESS: BT::NodeStatus::FAILURE;
}
static BT::PortsList providedPorts()
{
return providedBasicPorts({
BT::InputPort<std::string>("ReqKind"),
BT::InputPort<std::string>("ObjectName"),
});
}
};
#include "behaviortree_cpp_v3/bt_factory.h"
BT_REGISTER_NODES(factory)
{
factory.registerNodeType<DetectObject>("DetectObject");
}