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add test examples

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This commit is contained in:
shalenikol 2024-12-11 23:22:57 +03:00
parent a8a9fc0e5e
commit 6ca5bbe646
5 changed files with 92 additions and 0 deletions
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4
rbss_movetopose/scripts/skill_movetopose.py
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@ -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