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Migration to BT.cpp v4 & new BT executor

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Ilya Uraev 2024-07-04 12:11:07 +00:00 • committed by Igor Brylyov
parent b58307dea1
commit 2de37b027b
69 changed files with 843 additions and 2065 deletions
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1
rbs_skill_servers/src/move_cartesian_path_action_server.cpp
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@ -179,6 +179,7 @@ private:
moveit::core::MoveItErrorCode execute_err_code =
move_group_interface.execute(plan);
if (execute_err_code == moveit::core::MoveItErrorCode::SUCCESS) {
result->success = true;
goal_handle->succeed(result);
RCLCPP_INFO(this->get_logger(), "Successfully executed action goal");
} else if (execute_err_code == moveit::core::MoveItErrorCode::FAILURE) {