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add skill interfaces description and change robot name in bt tree

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This commit is contained in:
Ilya Uraev 2024-02-08 13:45:11 +03:00
parent 6608560a27
commit 12a1bfbfe8
5 changed files with 92 additions and 1 deletions
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19
rbs_bt_executor/bt_trees/example_skills/env_manager_starter.xml Normal file
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@ -0,0 +1,19 @@
<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<Action ID="EnvStarter"
env_class="gz_enviroment::GzEnviroment"
env_name="gz_enviroment"
server_name="/env_manager/start_env"
server_timeout="1000"
workspace="{workspace}" />
<TreeNodesModel>
<Action ID="EnvStarter">
<input_port name="env_class" />
<input_port name="env_name" />
<input_port name="server_name" />
<input_port name="server_timeout" />
<output_port name="workspace" />
</Action>
</TreeNodesModel>
</root>

23
rbs_bt_executor/bt_trees/example_skills/move_to_joint_states.xml Normal file
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@ -0,0 +1,23 @@
<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<Action ID="MoveToPose"
robot_name="{robot_name}"
JointState="{joint_state}"
server_name="{action_server}"
server_timeout="{time_s}"
cancel_timeout="{time_c}" />
<TreeNodesModel>
<Action ID="MoveToPose">
<!-- Массив положений суставов робота-->
<!-- std::vector<double>-->
<input_port name="JointState" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />
<!-- Для ros2_action-->
<input_port name="cancel_timeout" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
</TreeNodesModel>
</root>

23
rbs_bt_executor/bt_trees/example_skills/move_to_pose.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<Action ID="MoveToPose"
robot_name="{robot_name}"
pose="{PostGraspPose}"
server_name="{action_server}"
server_timeout="{time_s}"
cancel_timeout="{time_c}" />
<TreeNodesModel>
<Action ID="MoveToPose">
<!-- Непосредственно сама позиция в формате ROS2 сообщения-->
<!-- geometry_msgs::msgs::Pose-->
<input_port name="pose" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />
<!-- Для ros2_action-->
<input_port name="cancel_timeout" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
</TreeNodesModel>
</root>

26
rbs_bt_executor/bt_trees/example_skills/move_to_pose_array.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<Action ID="MoveToPoseArray"
cancel_timeout="5000"
pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}"
server_name="{server_name}"
server_timeout="5000" />
<TreeNodesModel>
<Action ID="MoveToPose">
<!-- Непосредственно сама позиция в формате ROS2 сообщения-->
<!-- geometry_msgs::msgs::PoseArray-->
<input_port name="pose_vec_in" />
<!-- Выдает вычтенную первую позицию из массива-->
<!-- geometry_msgs::msgs::PoseArray-->
<output_port name="pose_vec_out" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />
<!-- Для ros2_action-->
<input_port name="cancel_timeout" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
</TreeNodesModel>
</root>

2
rbs_bt_executor/bt_trees/test_tree.xml
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@ -6,7 +6,7 @@
<Action ID="EnvStarter" env_class="gz_enviroment::GzEnviroment" env_name="gz_enviroment"
server_name="/env_manager/start_env" server_timeout="1000" workspace="{workspace}" />
<SubTreePlus ID="WorkspaceInspection" __autoremap="1" goal_pose="{workspace}"
robot_name="ur_manipulator" />
robot_name="rbs_arm" />
</Sequence>
</BehaviorTree>
<!-- ////////// -->