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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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20
rbs_skill_servers/launch/skills.launch.py
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@ -67,15 +67,15 @@ def launch_setup(context, *args, **kwargs):
]
)
cartesian_move_to_pose_action_server = Node(
package="rbs_skill_servers",
executable="move_to_pose.py",
namespace=namespace,
parameters=[
{"use_sim_time": use_sim_time},
{"robot_name": namespace}
]
)
# cartesian_move_to_pose_action_server = Node(
# package="rbs_skill_servers",
# executable="move_to_pose.py",
# namespace=namespace,
# parameters=[
# {"use_sim_time": use_sim_time},
# {"robot_name": namespace}
# ]
# )
move_joint_state_action_server = Node(
package="rbs_skill_servers",
@ -101,7 +101,7 @@ def launch_setup(context, *args, **kwargs):
gripper_control_node,
move_cartesian_path_action_server,
move_joint_state_action_server,
cartesian_move_to_pose_action_server,
# cartesian_move_to_pose_action_server,
# grasp_pose_loader
]
return nodes_to_start