add MoveToPose skill config (through Interface Node)
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5 changed files with 64 additions and 0 deletions
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@ -80,6 +80,9 @@ list(APPEND plugin_libs rbs_env_manager_starter)
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add_library(rbs_skill_move_topose_array_bt_action_client SHARED src/MoveToPoseArray.cpp)
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list(APPEND plugin_libs rbs_skill_move_topose_array_bt_action_client)
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add_library(rbs_interface SHARED src/rbsBTAction.cpp)
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list(APPEND plugin_libs rbs_interface)
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foreach(bt_plugin ${plugin_libs})
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ament_target_dependencies(${bt_plugin} ${dependencies})
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target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
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17
rbs_bt_executor/bt_trees/bt_movetopose.xml
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17
rbs_bt_executor/bt_trees/bt_movetopose.xml
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@ -0,0 +1,17 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<root main_tree_to_execute="Main">
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<BehaviorTree ID="Main">
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<Sequence>
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<Action ID="RbsBtAction" do="MoveToPose" command="move" server_name="rbs_interface" server_timeout="1000" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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<Action ID="RbsBtAction">
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<input_port name="do" />
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<input_port name="command" />
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<input_port name="server_name" />
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<input_port name="server_timeout" />
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</Action>
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</TreeNodesModel>
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</root>
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17
rbs_bt_executor/bt_trees/bt_pe_stop.xml
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17
rbs_bt_executor/bt_trees/bt_pe_stop.xml
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@ -0,0 +1,17 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<root main_tree_to_execute="Main">
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<BehaviorTree ID="Main">
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<Sequence>
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<Action ID="RbsBtAction" do="PoseEstimation" command="peStop" server_name="rbs_interface" server_timeout="1000" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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<Action ID="RbsBtAction">
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<input_port name="do" />
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<input_port name="command" />
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<input_port name="server_name" />
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<input_port name="server_timeout" />
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</Action>
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</TreeNodesModel>
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</root>
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24
rbs_perception/config/MoveToPose.json
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24
rbs_perception/config/MoveToPose.json
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@ -0,0 +1,24 @@
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{
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"SkillPackage": {
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"name": "Robossembler", "version": "1.0", "format": "1"
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},
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"Module": {
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"name": "MoveToPose", "description": "Move to Pose skill with dekart controllers"
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},
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"Launch": {
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"executable": "movetopose_lc.py"
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},
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"ROS2": {
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"node_name": "lc_dc"
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},
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"BTAction": [
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{
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"name": "move",
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"format": "yaml",
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"type": "run",
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"param":["robot_name","pose"],
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"result":[]
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}
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],
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"Settings": []
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}
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3
rbs_perception/config/move.yaml
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3
rbs_perception/config/move.yaml
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@ -0,0 +1,3 @@
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robot_name: arm1
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# loc_xyz, rot_euler
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pose: [0.137, 0.165, 0.202, 0.0, 0.0, 3.14]
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