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add tree nodes model to other file

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ThreeNodesModels had move to general.xml which contain lib for groot
This commit is contained in:
Ilya Uraev 2024-02-15 19:48:48 +03:00
parent dc628f1387
commit 899805973d
3 changed files with 58 additions and 27 deletions
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4
rbs_bt_executor/bt_trees/example_skills/move_to_pose.xml
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@ -2,7 +2,7 @@
<root main_tree_to_execute="Main">
<Action ID="MoveToPose"
robot_name="{robot_name}"
pose="{PostGraspPose}"
pose="{pose}"
server_name="{action_server}"
server_timeout="{time_s}"
cancel_timeout="{time_c}" />
@ -10,7 +10,7 @@
<TreeNodesModel>
<Action ID="MoveToPose">
<!-- Непосредственно сама позиция в формате ROS2 сообщения-->
<!-- geometry_msgs::msgs::Pose-->
<!-- geometry_msgs::msg::Pose-->
<input_port name="pose" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />

51
rbs_bt_executor/bt_trees/nodes_interfaces/general.xml Normal file
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@ -0,0 +1,51 @@
<root>
<TreeNodesModel>
<Action ID="EnvStarter">
<input_port name="env_class" />
<input_port name="env_name" />
<input_port name="server_name" />
<input_port name="server_timeout" />
<output_port name="workspace" />
</Action>
<Action ID="MoveToPose">
<!-- Массив положений суставов робота-->
<!-- std::vector<double>-->
<input_port name="JointState" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />
<!-- Для ros2_action-->
<input_port name="cancel_timeout" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
<Action ID="MoveToPose">
<!-- Непосредственно сама позиция в формате ROS2 сообщения-->
<!-- geometry_msgs::msg::Pose-->
<input_port name="pose" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />
<!-- Для ros2_action-->
<input_port name="cancel_timeout" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
<Action ID="MoveToPoseArray">
<!-- Непосредственно сама позиция в формате ROS2 сообщения-->
<!-- geometry_msgs::msgs::PoseArray-->
<input_port name="pose_vec_in" />
<!-- Выдает вычтенную первую позицию из массива-->
<!-- geometry_msgs::msgs::PoseArray-->
<output_port name="pose_vec_out" />
<!-- std::string название робота. Нужен для MoveIt2 -->
<input_port name="robot_name" />
<!-- Для ros2_action-->
<input_port name="cancel_timeout" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
</TreeNodesModel>
</root>

30
rbs_bt_executor/bt_trees/test_tree.xml
View file

@ -24,33 +24,13 @@
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="EnvStarter">
<inout_port name="env_class" />
<inout_port name="env_name" />
<inout_port name="server_name" />
<inout_port name="server_timeout" />
<inout_port name="workspace" />
</Action>
<Action ID="MoveToPose">
<inout_port name="cancel_timeout" />
<inout_port name="pose" />
<inout_port name="robot_name" />
<inout_port name="server_name" />
<inout_port name="server_timeout" />
</Action>
<Action ID="MoveToPoseArray">
<inout_port name="cancel_timeout" />
<inout_port name="pose_vec_in" />
<inout_port name="robot_name" />
<inout_port name="server_name" />
<inout_port name="server_timeout" />
</Action>
<SubTree ID="PoseEstimation" />
<SubTree ID="WorkspaceInspection" />
</TreeNodesModel>
<include path="./nodes_interfaces/general.xml"/>
<!-- ////////// -->
</root>