commit

rasms_manipulator/.vscode/settings.json

@@ -10,5 +10,6 @@
         "/home/splinter1984/plansys_ws/install/ros2_knowledge_graph_msgs/lib/python3.8/site-packages",
         "/opt/ros/foxy/lib/python3.8/site-packages"
     ],
-    "ros.distro": "foxy"
+    "ros.distro": "foxy",
+    "C_Cpp.errorSquiggles": "Disabled"
 }

rasms_manipulator/behavior_trees/move.xml

@@ -1,6 +1,6 @@
 <root main_tree_to_execute = "MainTree" >
     <BehaviorTree ID="MainTree">
-        <Sequence name="root_sequence">
+        <Sequence name="move">
             <Move name="move" goal="{pose}"/>
         </Sequence>
     </BehaviorTree>

rasms_manipulator/config/params.yaml

@@ -1,7 +1,5 @@
-move_1:
+move:
   ros_parameters:
-    plugins:
-      - rasms_move_bt_node
     waypoints: ["zero", "one"]
     waypoints_coords:
       zero: [0.0, -2.0, 0.0]

rasms_manipulator/include/rasms_bt/behavior_tree_nodes/Move.hpp

@@ -13,6 +13,7 @@
 
 #include "moveit_msgs/msg/place_location.hpp"
 #include "moveit_msgs/msg/move_it_error_codes.hpp"
+#include "moveit_msgs/action/move_group.hpp"
 
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 #include "tf2/transform_datatypes.h"

rasms_manipulator/launch/rasms_manipulation.launch.py

@@ -0,0 +1,47 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+
+    pkg_dir = get_package_share_directory('rasms_manipulator')
+    namespace = LaunchConfiguration('namespace')
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Namespace')
+
+    stdout_linebuf_envvar = SetEnvironmentVariable(
+        'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+
+    move_1 = Node(
+        package='plansys2_bt_actions',
+        executable='bt_action_node',
+        name='move_1',
+        namespace=namespace,
+        output='screen',
+        parameters=[
+          pkg_dir + '/config/params.yaml',
+          {
+            'action_name': 'move',
+            'bt_xml_file': pkg_dir + '/behavior_trees_xml/move.xml'
+          }
+        ])
+    
+    ld = LaunchDescription()
+
+    ld.add_action(stdout_linebuf_envvar)
+    ld.add_action(declare_namespace_cmd)
+    
+    # Declare the launch options
+    ld.add_action(move_1)
+  
+    return ld

rasms_manipulator/src/rasms_controller_node.cpp

@@ -89,7 +89,7 @@ private:
     std::shared_ptr<plansys2::PlannerClient> planner_client_;
 };
 
-int main(argc, char ** argv)
+int main(int argc, char** argv)
 {
     rclcpp::init(argc, argv);
     auto node = std::make_shared<RasmsController>();