add test examples

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"
+                        }
+                    ]
+                }
+            }
+        }
+    ]
+}