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add MoveToPose skill config (through Interface Node)

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shalenikol 2024-04-18 16:56:01 +03:00
parent b26193655b
commit addfd40160
5 changed files with 64 additions and 0 deletions
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3
rbs_bt_executor/CMakeLists.txt
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@ -80,6 +80,9 @@ list(APPEND plugin_libs rbs_env_manager_starter)
add_library(rbs_skill_move_topose_array_bt_action_client SHARED src/MoveToPoseArray.cpp) add_library(rbs_skill_move_topose_array_bt_action_client SHARED src/MoveToPoseArray.cpp)
list(APPEND plugin_libs rbs_skill_move_topose_array_bt_action_client) list(APPEND plugin_libs rbs_skill_move_topose_array_bt_action_client)
add_library(rbs_interface SHARED src/rbsBTAction.cpp)
list(APPEND plugin_libs rbs_interface)
foreach(bt_plugin ${plugin_libs}) foreach(bt_plugin ${plugin_libs})
ament_target_dependencies(${bt_plugin} ${dependencies}) ament_target_dependencies(${bt_plugin} ${dependencies})
target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT) target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)

17
rbs_bt_executor/bt_trees/bt_movetopose.xml Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<BehaviorTree ID="Main">
<Sequence>
<Action ID="RbsBtAction" do="MoveToPose" command="move" 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>
</root>

17
rbs_bt_executor/bt_trees/bt_pe_stop.xml Normal file
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@ -0,0 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<root main_tree_to_execute="Main">
<BehaviorTree ID="Main">
<Sequence>
<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>
</root>

24
rbs_perception/config/MoveToPose.json Normal file
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@ -0,0 +1,24 @@
{
"SkillPackage": {
"name": "Robossembler", "version": "1.0", "format": "1"
},
"Module": {
"name": "MoveToPose", "description": "Move to Pose skill with dekart controllers"
},
"Launch": {
"executable": "movetopose_lc.py"
},
"ROS2": {
"node_name": "lc_dc"
},
"BTAction": [
{
"name": "move",
"format": "yaml",
"type": "run",
"param":["robot_name","pose"],
"result":[]
}
],
"Settings": []
}

3
rbs_perception/config/move.yaml Normal file
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@ -0,0 +1,3 @@
robot_name: arm1
# loc_xyz, rot_euler
pose: [0.137, 0.165, 0.202, 0.0, 0.0, 3.14]