Bill Finger
5c2c67567d
- Improved `get_grasp_pose_callback` with regex for grasp pose matching and added fallback mechanisms for `pregrasp_pose` and `postgrasp_pose`. - Introduced `_create_pose_msg` and `_create_pose_msg_from_name` helper functions for dynamic transform-to-pose conversion. - Updated `GetGraspPose.srv` to include `pregrasp_pose` and `postgrasp_pose` in the service response structure. - Enhanced TF listener integration in `assembly_config_service.py` for dynamic pose retrieval and parameter management. - Added `rbs_utils_interfaces` dependency in `CMakeLists.txt` and introduced new `GetGraspPose` node for behavior tree integration. - Replaced `MoveGripper` with `GripperCommand` to improve gripper state transitions. - Refactored `MoveToPose` and `GetWorkspace` nodes for enhanced logging and parameter handling. - Updated `workspace_movement.xml` and `grasp_object.xml` with improved actions and configurations.
33 lines
1.3 KiB
XML
33 lines
1.3 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<root BTCPP_format="4">
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<BehaviorTree ID="WorkspaceMovement">
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<Sequence>
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<!-- <Script code="action:='/'+robot_name+'/cartesian_move_to_pose'" /> -->
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<!-- <Script code="get_workspace:='/'+robot_name+'/get_workspace'"/> -->
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<Script code="action:='/mtp_jtc'"/>
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<Script code="get_workspace:='/get_workspace'"/>
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<Action ID="GetWorkspace" type="box" service_name="{get_workspace}" workspace="{workspace}"/>
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<Action ID="MoveToPoseArray" pose_vec_in="{workspace}" pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" action_name="{action}" />
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<Action ID="MoveToPoseArray" pose_vec_in="{goal_pose}" pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" action_name="{action}" />
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<Action ID="MoveToPoseArray" pose_vec_in="{goal_pose}" pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" action_name="{action}" />
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<Action ID="MoveToPoseArray" pose_vec_in="{goal_pose}" pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" action_name="{action}" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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<Action ID="MoveToPoseArray">
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<input_port name="pose_vec_in" />
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<output_port name="pose_vec_out" />
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<input_port name="robot_name" />
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<input_port name="action_name" />
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</Action>
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</TreeNodesModel>
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</root>
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