test scene for pick and place

This commit is contained in:
Ilya Uraev 2022-03-12 13:29:26 +04:00
parent b4339edc19
commit 91f159e289
18 changed files with 219 additions and 133 deletions

View file

@ -9,17 +9,16 @@
#include <geometry_msgs/msg/pose.hpp>
#include <rclcpp/rclcpp.hpp>
using SpawnEntitySrv = gazebo_msgs::srv::SpawnEntity;
class Print : public BtService<SpawnEntitySrv>
class Print : public BtService<gazebo_msgs::srv::SpawnEntity>
{
public:
Print(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf);
SpawnEntitySrv::Request::SharedPtr populate_request();
gazebo_msgs::srv::SpawnEntity::Request::SharedPtr populate_request();
BT::NodeStatus handle_response(SpawnEntitySrv::Response::SharedPtr response);
BT::NodeStatus handle_response(gazebo_msgs::srv::SpawnEntity::Response::SharedPtr response);
static BT::PortsList providedPorts()
{