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Migration to BT.cpp v4 & new BT executor

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This commit is contained in:
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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2
rbs_utils/rbs_utils_interfaces/CMakeLists.txt
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@ -15,6 +15,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/AssemblyConfig.msg"
"msg/NamedPose.msg"
"msg/RelativeNamedPose.msg"
"srv/GetGraspPose.srv"
"srv/GetWorkspace.srv"
DEPENDENCIES std_msgs geometry_msgs
)

4
rbs_utils/rbs_utils_interfaces/srv/GetGraspPose.srv Normal file
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@ -0,0 +1,4 @@
string model_name
---
rbs_utils_interfaces/RelativeNamedPose[] grasp_pose
bool ok

4
rbs_utils/rbs_utils_interfaces/srv/GetWorkspace.srv Normal file
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@ -0,0 +1,4 @@
string type
---
geometry_msgs/Point[] workspace
bool ok