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🔨 add bt_checker and BT node with new lib

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This commit is contained in:
Ilya Uraev 2022-02-02 21:47:26 +04:00
parent 7322505b1e
commit 7ca3fbeb1d
10 changed files with 191 additions and 35 deletions
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31
robossembler_servers/src/move_topose_action_server.cpp
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@ -11,13 +11,13 @@
#include "robossembler_interfaces/msg/action_feedback_status_constants.hpp"
#include "robossembler_interfaces/action/moveit_send_pose.hpp"
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/transform.hpp>
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "geometry_msgs/msg/transform.hpp"
// moveit libs
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/planning_interface/planning_interface.h>
#include "moveit/move_group_interface/move_group_interface.h"
#include "moveit/planning_interface/planning_interface.h"
/*
#include <tf2/LinearMath/Quaternion.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
@ -38,13 +38,14 @@ class MoveToPoseActionServer : public rclcpp::Node
public:
using MoveitSendPose = robossembler_interfaces::action::MoveitSendPose;
explicit MoveToPoseActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
: Node("move_topose_action_server", options)
//explicit MoveToPoseActionServer(const rclcpp::Node::SharedPtr& node)
explicit MoveToPoseActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())
: Node("move_topose_action_server", options)//, node_(node)
{
using namespace std::placeholders;
this->action_server_ = rclcpp_action::create_server<MoveitSendPose>(
this,
"MoveToPoseActionServer",
"move_topose",
std::bind(&MoveToPoseActionServer::goal_callback, this, _1, _2),
std::bind(&MoveToPoseActionServer::cancel_callback, this, _1),
std::bind(&MoveToPoseActionServer::accepted_callback, this, _1));
@ -123,4 +124,16 @@ private:
}// namespace robossembler_actions
RCLCPP_COMPONENTS_REGISTER_NODE(robossembler_actions::MoveToPoseActionServer)
RCLCPP_COMPONENTS_REGISTER_NODE(robossembler_actions::MoveToPoseActionServer)
/*
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::NodeOptions node_options;
node_options.automatically_declare_parameters_from_overrides(true);
rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("move_topose", "", node_options);
rclcpp::spin(node);
//rclcpp::shutdown();
return 0;
}*/