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Cartesian Move_to_pose Skill for BT Interface Node

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This commit is contained in:
Igor Brylev 2024-09-04 08:46:27 +00:00
parent bf965bb750
commit b4b452297d
18 changed files with 743 additions and 64 deletions
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4
rbs_bt_executor/src/rbsBTAction.cpp
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@ -34,6 +34,7 @@ public:
}
bool setRequest(Request::SharedPtr &request) override {
request->action = m_action_name;
getInput(STR_SID, request->sid);
getInput(STR_COMMAND, request->command);
return true;
@ -59,4 +60,5 @@ private:
std::shared_ptr<rclcpp::AsyncParametersClient> m_params_client;
};
CreateRosNodePlugin(RbsBtAction, "RbsAction")
// !!! теперь устаревшая версия !!!
CreateRosNodePlugin(RbsBtAction, "RbsBtAction")