asssembly config simple publisher
This commit is contained in:
parent
e8ea09e020
commit
ae48c5ee6a
4 changed files with 333 additions and 0 deletions
36
rbs_bt_executor/bt_trees/test_roboclone.xml
Normal file
36
rbs_bt_executor/bt_trees/test_roboclone.xml
Normal file
|
@ -0,0 +1,36 @@
|
|||
<?xml version="1.0"?>
|
||||
<root main_tree_to_execute="MainTree">
|
||||
<!-- ////////// -->
|
||||
<BehaviorTree ID="MainTree">
|
||||
<Sequence>
|
||||
<Action ID="EnvStarter" env_class="gz_enviroment::GzEnviroment" env_name="gz_enviroment"
|
||||
server_name="/env_manager/start_env" server_timeout="1000" workspace="{workspace}" />
|
||||
<SubTreePlus ID="WorkspaceInspection" __autoremap="1" goal_pose="{workspace}"
|
||||
robot_name="rbs_arm" />
|
||||
</Sequence>
|
||||
</BehaviorTree>
|
||||
<!-- ////////// -->
|
||||
<BehaviorTree ID="WorkspaceInspection">
|
||||
<Sequence>
|
||||
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
|
||||
pose_vec_out="{goal_pose}"
|
||||
robot_name="{robot_name}" server_name="/arm1/move_topose" server_timeout="5000" />
|
||||
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
|
||||
pose_vec_out="{goal_pose}"
|
||||
robot_name="{robot_name}" server_name="/arm1/move_cartesian" server_timeout="5000" />
|
||||
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
|
||||
pose_vec_out="{goal_pose}"
|
||||
robot_name="{robot_name}" server_name="/arm1/move_cartesian" server_timeout="5000" />
|
||||
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
|
||||
pose_vec_out="{goal_pose}"
|
||||
robot_name="{robot_name}" server_name="/arm1/move_cartesian" server_timeout="5000" />
|
||||
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
|
||||
pose_vec_out="{goal_pose}"
|
||||
robot_name="{robot_name}" server_name="/arm/move_cartesian" server_timeout="5000" />
|
||||
|
||||
</Sequence>
|
||||
</BehaviorTree>
|
||||
<!-- ////////// -->
|
||||
<include path="./nodes_interfaces/general.xml"/>
|
||||
<!-- ////////// -->
|
||||
</root>
|
Loading…
Add table
Add a link
Reference in a new issue