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Merge branch 'main-update' into 101-pose_estimation_DOPE

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This commit is contained in:
shalenikol 2024-05-13 12:26:39 +03:00
commit e4c3c0f1c7
58 changed files with 5387 additions and 905 deletions
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36
rbs_bt_executor/bt_trees/test_roboclone.xml Normal file
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@ -0,0 +1,36 @@
<?xml version="1.0"?>
<root main_tree_to_execute="MainTree">
<!-- ////////// -->
<BehaviorTree ID="MainTree">
<Sequence>
<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" />
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="WorkspaceInspection">
<Sequence>
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/arm1/move_topose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/arm1/move_cartesian" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/arm1/move_cartesian" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/arm1/move_cartesian" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/arm/move_cartesian" server_timeout="5000" />
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<include path="./nodes_interfaces/general.xml"/>
<!-- ////////// -->
</root>

10
rbs_bt_executor/bt_trees/test_tree.xml
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@ -14,19 +14,19 @@
<Sequence>
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_topose" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
pose_vec_out="{goal_pose}"
robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
robot_name="{robot_name}" server_name="/cartesian_move_to_pose" server_timeout="5000" />
</Sequence>
</BehaviorTree>