add rosbag example

rbs_utils/rbs_utils/scripts/recording_demo.md

@@ -36,20 +36,26 @@
           "name": "rdConfigure",
           "type_action": "action",
           "type": "run",
-          "param": [],
+          "param": []
-          "result":[]
         },
-        { "name": "rdStop", "type_action": "action", "type": "stop", "param": [], "result": [] }
+        { "name": "rdStop", "type_action": "action", "type": "stop", "param": [] }
       ],
-      "Settings": [
+      "Settings": {
-        { "name": "output_path", "value": "rbs_testbag", "description": "!!! Путь, куда запишется rosbag. Если он уже есть - перетрётся!" }
+          "output": {
-        ]
+              "params": [
+                  {
+                    "name": "output_path",
+                    "value": "rbs_testbag"
+                  }
+              ]
+          }
+      }
     },
     {
       "sid": "c",
       "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
-      "Module": { "name": "MoveToPose", "description": "Move to Pose skill with cartesian controllers", "node_name": "mtp_cartesian" },
+      "Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to pose with cartesian controller" },
-      "Launch": { "package": "rbss_movetopose", "executable": "mtp_cartesian.py" },
+      "Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
       "BTAction": [
         {
             "name": "move",
@@ -64,11 +70,29 @@
             ]
         }
       ],
-      "Settings": [
+      "topicsOut": [],
-        { "name": "server_name", "value": "cartesian_move_to_pose" },
+      "Settings": {
-        { "name": "end_effector_velocity", "value": 1.0 }, 
+          "output": {
-        { "name": "end_effector_acceleration", "value": 1.0 }
+              "params": [
-      ]
+                  {
+                      "name": "server_name",
+                      "value": "mtp_cart"
+                  },
+                  {
+                      "name": "duration",
+                      "value": "5.0"
+                  },
+                  {
+                      "name": "end_effector_velocity",
+                      "value": "1.0"
+                  },
+                  {
+                      "name": "end_effector_acceleration",
+                      "value": "1.0"
+                  }
+              ]
+          }
+      }
     }
   ]
 }
@@ -77,11 +101,11 @@
 Запустить последовательно три терминала и выполнить запуск 3-х launch-файлов:
 * 1 - запуск интерфейсной ноды с серверами навыков
 ```bash
-ros2 launch rbs_interface interface.launch.py bt_path:=/path/to/bt
+ros2 launch rbs_bt_executor interface.launch.py bt_path:=/path/to/bt
 ```
 * 2 - запуск робота в сцене
 ```bash
-ros2 launch rbs_bringup single_robot.launch.py
+ros2 launch rbs_bringup rbs_bringup.launch.py
 ```
 * 3 - запуск дерева поведения
 ```bash

test_examples/README.md

@@ -64,3 +64,33 @@ ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=src/robossembler-ros2/
 
 ![benchmark_result](benchmark_result.png)
 *пример вывода журнала*
+
+## Пример запуска симуляции с записью rosbag-журнала для демонстрации в веб.
+
+Запустить последовательно три терминала и выполнить запуск 3-х launch-файлов.  
+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
+```sh
+ros2 launch rbs_bt_executor interface.launch.py bt_path:=src/robossembler-ros2/test_examples/bt_rosbag
+```
+* 2 - запуск runtime с роботом в сцене
+```sh
+ros2 launch rbs_bringup rbs_bringup.launch.py
+```
+* 3 - запуск дерева поведения
+```sh
+ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=src/robossembler-ros2/test_examples/bt_rosbag
+```
+ Для визуализации можно дополнительно запустить симулятор Gazebo (терминал 4):  
+```sh
+ign gazebo -g
+```
+После выполнения дерева в папке ~/robossembler-ws/rbs_testbag сохранится журнал rosbag.

test_examples/bt_rosbag/bt.xml

@@ -0,0 +1,9 @@
+<root BTCPP_format="4">
+    <BehaviorTree ID="Main">
+        <Sequence>
+            <Action ID="RbsAction" do="RecordingDemo" command="rdConfigure" sid="a"></Action>
+            <Action ID="RbsAction" do="MoveToPose" command="move" sid="b"></Action>
+            <Action ID="RbsAction" do="RecordingDemo" command="rdStop" sid="a"></Action>
+        </Sequence>
+    </BehaviorTree>
+</root>

test_examples/bt_rosbag/skills.json

@@ -0,0 +1,73 @@
+{
+    "skills": [
+        {
+            "sid": "a",
+            "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+            "Module": { "name": "RecordingDemo", "description": "Recording a demo via RosBag", "node_name": "lc_record_demo" },
+            "Launch": { "package": "rbs_utils", "executable": "recording_demo_via_rosbag.py" },
+            "BTAction": [
+                {
+                  "name": "rdConfigure",
+                  "type_action": "action",
+                  "type": "run",
+                  "param": []
+                },
+                { "name": "rdStop", "type_action": "action", "type": "stop", "param": [] }
+            ],
+            "topicsOut": [],
+            "Settings": {
+                "output": {
+                    "params": [
+                        {
+                            "name": "output_path",
+                            "value": "rbs_testbag"
+                        }
+                    ]
+                }
+            }
+        },
+        {
+            "sid": "b",
+            "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
+            "Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to pose with joint trajectory controller" },
+            "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":0.1, "y":0.1, "z":0.7}, "orientation": {"x":0.55, "y":0.0, "z":0.45, "w": 1.0} } }
+                        }
+                    ],
+                    "typeAction": "ACTION"
+                }
+            ],
+            "topicsOut": [],
+            "Settings": {
+                "output": {
+                    "params": [
+                        {
+                            "name": "server_name",
+                            "value": "mtp_jtc"
+                        },
+                        {
+                            "name": "duration",
+                            "value": "5.0"
+                        },
+                        {
+                            "name": "end_effector_velocity",
+                            "value": "1.0"
+                        },
+                        {
+                            "name": "end_effector_acceleration",
+                            "value": "1.0"
+                        }
+                    ]
+                }
+            }
+        }
+    ]
+}