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add ROS2 node for DOPE (work through rbs_interface)

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shalenikol 2024-04-01 17:55:53 +03:00
parent 95975fee28
commit 9d86ad7f30
10 changed files with 1898 additions and 1 deletions
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rbs_bt_executor/bt_trees/bt_template.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<BehaviorTree ID="Main">
<Sequence>
<Action ID="RbsBtAction" do="PoseEstimation" command="peConfigure" server_name="rbs_interface" server_timeout="1000" />
<Action ID="RbsBtAction" do="PoseEstimation" command="peStop" server_name="rbs_interface" server_timeout="1000" />
</Sequence>
</BehaviorTree>
<TreeNodesModel>
<Action ID="RbsBtAction">
<input_port name="do" />
<input_port name="command" />
<input_port name="server_name" />
<input_port name="server_timeout" />
</Action>
</TreeNodesModel>
<!-- <Action ID="RbsBtAction" do="ObjectDetection" command="odConfigure" server_name="rbs_interface" server_timeout="1000" />
<Action ID="RbsBtAction" do="ObjectDetection" command="odStop" server_name="rbs_interface" server_timeout="1000" /> -->
<!-- <input_port name="cancel_timeout" /> -->
<!-- cancel_timeout="1000" -->
</root>