add test examples

rbss_movetopose/scripts/skill_movetopose.py

@@ -32,6 +32,8 @@ class MoveToPoseCartesianSkill(Node):
             val = prop["value"]
             if nam == "server_name":
                 self.server_name = val
+            elif nam == "duration":
+                self.duration = float(val)
             elif nam == "end_effector_velocity":
                 self.end_effector_velocity = float(val)
             elif nam == "end_effector_acceleration":
@@ -42,6 +44,7 @@ class MoveToPoseCartesianSkill(Node):
         self._completion = False
         self.end_effector_velocity = 1.0
         self.end_effector_acceleration = 1.0
+        self.duration = 5.0
         # for other nodes
         kwargs["allow_undeclared_parameters"] = True
         kwargs["automatically_declare_parameters_from_overrides"] = True
@@ -126,6 +129,7 @@ class MoveToPoseCartesianSkill(Node):
         goal_msg.target_pose.orientation.w = pose["orientation"]["w"]
 
         goal_msg.robot_name = dep["robot_name"]
+        goal_msg.duration = self.duration
         goal_msg.end_effector_velocity = self.end_effector_velocity
         goal_msg.end_effector_acceleration = self.end_effector_acceleration
         return goal_msg

test_examples/README.md

@@ -0,0 +1,32 @@
+## Пример запуска симуляции (runtime) сцены с роботом
+
+Запустить последовательно четыре терминала и выполнить запуск 3-х launch-файлов и симулятора Gazebo:  
+Во всех терминалах выполнить предварительную настройку:
+```sh
+# ROS2
+source /opt/ros/humble/setup.bash
+# Robossembler
+cd ~/robossembler-ws
+source install/setup.bash
+```
+
+* 1 - запуск интерфейсной ноды с серверами навыков
+```bash
+ros2 launch rbs_bt_executor interface.launch.py bt_path:=src/robossembler-ros2/test_examples/bt_default
+```
+* 2 - запуск runtime с роботом в сцене
+```bash
+ros2 launch rbs_bringup rbs_bringup.launch.py
+```
+* 3 - запуск Gazebo (для визуализации процесса)
+```bash
+ign gazebo -g
+```
+* 4 - запуск дерева поведения
+```bash
+ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=src/robossembler-ros2/test_examples/bt_default
+```
+Чтобы наблюдать сцену с движением робота, нужно перейти в окно Gazebo.
+
+![gazebo_rbs_arm](gazebo_rbs_arm.png)
+*визуализация сцены с роботом*

test_examples/bt_default/bt.xml

@@ -0,0 +1,7 @@
+<root BTCPP_format="4">
+    <BehaviorTree ID="Main">
+        <Sequence>
+            <Action ID="RbsAction" do="MoveToPose" command="move" sid="a"></Action>
+        </Sequence>
+    </BehaviorTree>
+</root>

test_examples/bt_default/skills.json

@@ -0,0 +1,49 @@
+{
+    "skills": [
+        {
+            "sid": "a",
+            "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+            "Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to Pose skill" },
+            "Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
+            "BTAction": [
+                {
+                    "name": "move",
+                    "type": "action",
+                    "param": [
+                        {
+                            "type": "move_to_pose",
+                            "dependency": { "robot_name": "rbs_arm",
+                                            "pose": { "position": {"x": -0.3, "y": -0.2, "z": 0.2}, "orientation": {"x":0.0, "y":1.0, "z":0.0, "w": 0.0} } }
+                        }
+                    ],
+                    "typeAction": "ACTION"
+                }
+            ],
+            "topicsOut": [],
+            "Settings": {
+                "output": {
+                    "params": [
+                        {
+                            "name": "server_name",
+                            "value3": "mtp_jtc",
+                            "value2": "mtp_moveit",
+                            "value": "mtp_cart"
+                        },
+                        {
+                            "name": "duration",
+                            "value": "5.0"
+                        },
+                        {
+                            "name": "end_effector_velocity",
+                            "value": "1.0"
+                        },
+                        {
+                            "name": "end_effector_acceleration",
+                            "value": "1.0"
+                        }
+                    ]
+                }
+            }
+        }
+    ]
+}