Bill Finger
0c6b01bbfe
- **CMakeLists.txt**: - Commented out the unused `rbs_env_manager_starter` library. - **Behavior Trees**: - Added new `grasp_object.xml` behavior tree for grasping operations. - Modified `test_tree.xml` to update `robot_name` in the `WorkspaceMovement` subtree. - **Source Code Updates**: - Removed `EnvManager.cpp`, deprecating its functionality. - Formatting `GetWorkspace.cpp` - Formatting `MoveGripper.cpp` - Formatting `MoveToJointStates.cpp` - Formatting `PoseEstimation.cpp` and `TreeRunner.cpp` - **Assembly Config Service**: - Added broadcasting for grasp pose transformations in `assembly_config_service.py`. These updates enhance modularity, maintainability, and the overall functionality of the behavior tree executor.
20 lines
592 B
XML
20 lines
592 B
XML
<?xml version='1.0' encoding='utf-8'?>
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<root BTCPP_format="4">
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<BehaviorTree ID="TestTree">
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<Sequence>
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<!-- <Action ID="EnvManager" env_class="gz_enviroment::GzEnviroment" env_name="gz_enviroment" -->
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<!-- service_name="/env_manager/start_env" /> -->
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<SubTree ID="WorkspaceMovement" robot_name="rbs_arm" />
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</Sequence>
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</BehaviorTree>
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<TreeNodesModel>
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<Action ID="GetWorkspace">
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<input_port name="type"/>
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<input_port name="service_name"/>
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<output_port name="workspace" />
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</Action>
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</TreeNodesModel>
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</root>
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