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Merge remote-tracking branch 'origin/main' into 90-real-robot-setup

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This commit is contained in:
Ilya Uraev 2023-12-22 19:14:18 +03:00
commit af6b20b622
4 changed files with 19 additions and 20 deletions
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3
rbs_bt_executor/bt_trees/test_tree.xml
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@ -3,7 +3,7 @@
<BehaviorTree ID="PoseEstimation">
<Sequence>
<Action ID="PoseEstimation"
ObjectName="!/rbs_ws/src/robossembler-ros2/rbs_perception/config/str_param.json"
ObjectName="!/home/shalenikol/robossembler_ws/src/robossembler-ros2/rbs_perception/config/str_param.json"
ReqKind = "calibrate"
server_name="/pose_estimation/change_state"
server_timeout="1000"/>
@ -14,4 +14,3 @@
server_timeout="1000"/>
</Sequence>
</BehaviorTree>
</root>

9
rbs_bt_executor/src/PoseEstimation.cpp
View file

@ -101,6 +101,15 @@ private:
_set_params_client->set_parameters(_parameters);
}
void set_mesh_param() {
auto _package_name = ament_index_cpp::get_package_share_directory("rbs_perception");
_model_path = build_model_path(_model_name, _package_name);
RCLCPP_INFO_STREAM(_node->get_logger(), _model_path);
std::vector<rclcpp::Parameter> _parameters{rclcpp::Parameter("mesh_path", _model_name)};
_set_params_client->set_parameters(_parameters);
}
void set_mesh_param() {
auto _package_name =
ament_index_cpp::get_package_share_directory("rbs_perception");