robossembler/runtime
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get values from plansys2 to BT

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This commit is contained in:
Ilya Uraev 2022-02-11 19:28:34 +04:00
parent 5b601bb3a9
commit 25e819e94c
3 changed files with 7 additions and 9 deletions
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4
robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
View file

@ -3,9 +3,9 @@
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<Action ID="GetEntityState" part_name="${arg1}" server_name="/get_entity_state" server_timeout="10"/>
<Action ID="GetEntityState" part_name="${arg2}" server_name="/get_entity_state" server_timeout="10"/>
<Action ID="MoveToPose" arm_group="${arg0}" server_name="/move_topose" server_timeout="10" cancel_timeout="5" />
<Action ID="MoveGripper" arm_group="${arg0}" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
<Action ID="MoveGripper" arm_group="${arg1}" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
</Sequence>
</BehaviorTree>
<!-- ////////// -->

9
robossembler/pddl/domain.pddl
View file

@ -12,10 +12,7 @@
;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
(:predicates
(move_at ?r - robot ?z - zone)
(part_pose ?p - part)
(gripper_move ?gr - gripper ?g - gap)
(part_at ?r - robot ?p - part)
(enviroment_setup ?r - robot ?g - gripper ?p - part)
);; end Predicates ;;;;;;;;;;;;;;;;;;;;
;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
@ -25,9 +22,9 @@
;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(:durative-action assemble-1
:parameters (?r - robot ?p - part)
:parameters (?r - robot ?g - gripper ?p - part)
:duration ( = ?duration 1)
:effect (and(at start (part_at ?r ?p))
:effect (and(at start (enviroment_setup ?r ?g ?p)))
)
;(:durative-action move_gripper

3
robossembler/src/move_controller_node.cpp
View file

@ -56,8 +56,9 @@ public:
{
problem_expert_->addInstance(plansys2::Instance{"rasmt_arm_group", "robot"});
problem_expert_->addInstance(plansys2::Instance{"rasmt", "part"});
problem_expert_->addInstance(plansys2::Instance("rasmt_hand_arm_group", "gripper"));
problem_expert_->setGoal(plansys2::Goal("(and(part_at rasmt_arm_group rasmt)))"));
problem_expert_->setGoal(plansys2::Goal("(and(enviroment_setup rasmt_arm_group rasmt_hand_arm_group rasmt))"));
}