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Merge remote-tracking branch 'origin/main' into 101-pose_estimation_DOPE

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This commit is contained in:
shalenikol 2024-04-02 11:04:57 +03:00
commit b4952d0234
20 changed files with 450 additions and 340 deletions
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12
rbs_bt_executor/src/MoveToPoseArray.cpp
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@ -30,7 +30,8 @@ public:
goal.target_pose = target_pose_vec_.poses.at(0);
target_pose_vec_.poses.erase(target_pose_vec_.poses.begin());
setOutput<geometry_msgs::msg::PoseArray>("pose_vec_out", target_pose_vec_);
setOutput<geometry_msgs::msg::PoseArray>("pose_vec_out",
target_pose_vec_);
} else {
RCLCPP_WARN(_node->get_logger(), "Target pose vector empty");
}
@ -39,11 +40,10 @@ public:
}
static BT::PortsList providedPorts() {
return providedBasicPorts({
BT::InputPort<std::string>("robot_name"),
BT::InputPort<geometry_msgs::msg::PoseArray>("pose_vec_in"),
BT::OutputPort<geometry_msgs::msg::PoseArray>("pose_vec_out")
});
return providedBasicPorts(
{BT::InputPort<std::string>("robot_name"),
BT::InputPort<geometry_msgs::msg::PoseArray>("pose_vec_in"),
BT::OutputPort<geometry_msgs::msg::PoseArray>("pose_vec_out")});
}
private: