robossembler/runtime
7
0
Fork 0
Code Issues 5 Pull requests Projects Releases Packages Wiki Activity Actions

⚰️ remove extra files

Browse source
This commit is contained in:
Ilya Uraev 2022-01-23 14:03:00 +04:00
parent b334e2fd70
commit c815d106f4
2 changed files with 3 additions and 82 deletions
Download patch file Download diff file Expand all files Collapse all files

15
robossembler/launch/task_planner.launch.py
View file

@ -98,7 +98,7 @@ def generate_launch_description():
'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/move.xml', 'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/move.xml',
} }
]) ])
gz_get_entity_state = Node( """gz_get_entity_state = Node(
package='plansys2_bt_actions', package='plansys2_bt_actions',
executable='bt_action_node', executable='bt_action_node',
name='get_part_state', name='get_part_state',
@ -111,25 +111,16 @@ def generate_launch_description():
'bt_xml_file':pkg_dir + '/behavior_trees_xml/atomic_skills_xml/get_part_state.xml' 'bt_xml_file':pkg_dir + '/behavior_trees_xml/atomic_skills_xml/get_part_state.xml'
} }
] ]
) )"""
# transport_1 = Node(
# package='robossembler',
# executable='move_action_node',
# name='transport_1',
# namespace=namespace,
# output='screen',
# parameters=[])
ld = LaunchDescription() ld = LaunchDescription()
ld.add_action(declare_namespace_cmd) ld.add_action(declare_namespace_cmd)
#ld.add_action(declare_robot_description) #ld.add_action(declare_robot_description)
ld.add_action(gz_get_entity_state) #ld.add_action(gz_get_entity_state)
# Declare the launch options # Declare the launch options
ld.add_action(plansys2_cmd) ld.add_action(plansys2_cmd)
ld.add_action(move_1) ld.add_action(move_1)
# ld.add_action(transport_1)
return ld return ld

70
robossembler/src/move_action_node.cpp
View file

@ -1,70 +0,0 @@
// Copyright 2019 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include <algorithm>
#include "plansys2_executor/ActionExecutorClient.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "robot_bt/behavior_tree_nodes/atomic_skills/Move.hpp"
using namespace std::chrono_literals;
class MoveAction : public plansys2::ActionExecutorClient
{
public:
MoveAction()
: plansys2::ActionExecutorClient("move", 500ms)
{
progress_ = 0.0;
}
private:
void do_work()
{
if (progress_ < 1.0) {
progress_ += 0.05;
send_feedback(progress_, "Move running");
} else {
finish(true, 1.0, "Move completed");
progress_ = 0.0;
std::cout << std::endl;
}
std::cout << "\r\e[K" << std::flush;
std::cout << "Moving ... [" << std::min(100.0, progress_ * 100.0) << "%] " <<
std::flush;
}
float progress_;
};
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<MoveAction>();
node->set_parameter(rclcpp::Parameter("action_name", "move"));
node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
rclcpp::spin(node->get_node_base_interface());
rclcpp::shutdown();
return 0;
}