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add commands & fix config

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This commit is contained in:
Splinter1984 2021-12-08 22:58:58 +07:00
parent 1ff6fdaa4c
commit bd83db87ae
4 changed files with 14 additions and 16 deletions
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6
rasms_manipulator/CMakeLists.txt
View file

@ -44,8 +44,8 @@ set(dependencies
include_directories(include) include_directories(include)
add_library(plansys2_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp) add_library(rasms_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp)
list(APPEND plugin_libs plansys2_move_bt_node) list(APPEND plugin_libs rasms_move_bt_node)
foreach(bt_plugin ${plugin_libs}) foreach(bt_plugin ${plugin_libs})
ament_target_dependencies(${bt_plugin} ${dependencies}) ament_target_dependencies(${bt_plugin} ${dependencies})
@ -58,7 +58,7 @@ ament_target_dependencies(assemble_controller_node ${dependencies})
install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME}) install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
install(TARGETS install(TARGETS
# assemble_controller_node assemble_controller_node
${plugin_libs} ${plugin_libs}
ARCHIVE DESTINATION lib ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib LIBRARY DESTINATION lib

9
rasms_manipulator/config/params.yaml
View file

@ -1,8 +1,7 @@
move_1: move_1:
ros_parameters: ros__parameters:
plugins: plugins:
- plansys2_move_bt_node - rasms_move_bt_node
waypoints: ["zero"] waypoints: ["one"]
waypoints_coords: waypoints_coords:
zero: [0.0, -2.0, 0.0] one: [0.2, 0.2, 0.2]

6
rasms_manipulator/launch/rasms_manipulation.launch.py
View file

@ -19,8 +19,8 @@ def generate_launch_description():
default_value='', default_value='',
description='Namespace') description='Namespace')
stdout_linebuf_envvar = SetEnvironmentVariable( # stdout_linebuf_envvar = SetEnvironmentVariable(
'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1') # 'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
plansys2_cmd = IncludeLaunchDescription( plansys2_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join( PythonLaunchDescriptionSource(os.path.join(
@ -53,7 +53,7 @@ def generate_launch_description():
ld = LaunchDescription() ld = LaunchDescription()
ld.add_action(stdout_linebuf_envvar) # ld.add_action(stdout_linebuf_envvar)
ld.add_action(declare_namespace_cmd) ld.add_action(declare_namespace_cmd)
# Declare the launch options # Declare the launch options

9
rasms_manipulator/pddl/commands
View file

@ -1,7 +1,6 @@
set instance rasms robot set instance rasms robot
set instance one zone
set predicate (robot_at rasms one)
set goal (and(robot_moved rasms one))
run
set instance assembly_zone zone
set predicate (robot_at rasms assembly_zone)
set goal (and())