test scene for pick and place
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18 changed files with 219 additions and 133 deletions
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@ -9,17 +9,16 @@
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#include <geometry_msgs/msg/pose.hpp>
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#include <rclcpp/rclcpp.hpp>
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using SpawnEntitySrv = gazebo_msgs::srv::SpawnEntity;
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class Print : public BtService<SpawnEntitySrv>
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class Print : public BtService<gazebo_msgs::srv::SpawnEntity>
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{
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public:
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Print(const std::string &xml_tag_name,
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const BT::NodeConfiguration &conf);
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SpawnEntitySrv::Request::SharedPtr populate_request();
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gazebo_msgs::srv::SpawnEntity::Request::SharedPtr populate_request();
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BT::NodeStatus handle_response(SpawnEntitySrv::Response::SharedPtr response);
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BT::NodeStatus handle_response(gazebo_msgs::srv::SpawnEntity::Response::SharedPtr response);
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static BT::PortsList providedPorts()
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{
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