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Added rbs_gym package for RL & multi-robot launch setup

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Ilya Uraev 2024-07-04 11:38:08 +00:00 • committed by Igor Brylyov
parent f92670cd0d
commit b58307dea1
103 changed files with 15170 additions and 653 deletions
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2
rbs_bt_executor/bt_trees/test_tree.xml
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@ -6,7 +6,7 @@
<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" />
robot_name="ur_manipulator" />
</Sequence>
</BehaviorTree>
<!-- ////////// -->

2
rbs_bt_executor/src/MoveToPoseArray.cpp
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@ -28,6 +28,8 @@ public:
if (!target_pose_vec_.poses.empty()) {
goal.robot_name = robot_name_;
goal.target_pose = target_pose_vec_.poses.at(0);
goal.end_effector_acceleration = 1.0;
goal.end_effector_velocity = 1.0;
target_pose_vec_.poses.erase(target_pose_vec_.poses.begin());
setOutput<geometry_msgs::msg::PoseArray>("pose_vec_out",