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♻️ update to moveit2 ros2 actions bt

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This commit is contained in:
Ilya Uraev 2022-02-10 23:15:37 +04:00
parent 7b73c48f03
commit 54da56c7ae
18 changed files with 305 additions and 742 deletions
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8
robossembler_interfaces/action/MoveToJointsMoveIt.action → robossembler_interfaces/action/MoveitSendJointStates.action
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@ -1,9 +1,11 @@
##Description: Moves robot arm to a specified joint space.
#goal definition
moveit_action_handlers/PropertyValuePair[] joint_pairs # list of joint_pairs (joint name + value)
float32 end_effector_velocity
float32 end_effector_acceleration
string robot_name
robossembler_interfaces/PropertyValuePair[] joint_pairs # list of joint_pairs (joint name + value)
float32 joint_value # send joint value to gripper
float32 joints_velocity_scaling_factor
float32 joints_acceleration_scaling_factor
float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.
---
#result definition

2
robossembler_interfaces/action/MoveitSendPose.action
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@ -7,7 +7,7 @@ int32 constraint_mode
#similar to geometry_msgs/PoseStamped but using euler instead of quaternion
#at target_pose->header.frame_id define the tf frame
# which the pose will be calculated relative from
geometry_msgs/PoseStamped target_pose
geometry_msgs/Pose target_pose
string robot_name
float32 end_effector_velocity
float32 end_effector_acceleration