36 lines
1.8 KiB
XML
36 lines
1.8 KiB
XML
<?xml version="1.0"?>
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<root main_tree_to_execute="MainTree">
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<!-- ////////// -->
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<BehaviorTree ID="MainTree">
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<Sequence>
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<Action ID="EnvStarter" env_class="gz_enviroment::GzEnviroment" env_name="gz_enviroment"
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server_name="/env_manager/start_env" server_timeout="1000" workspace="{workspace}" />
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<SubTreePlus ID="WorkspaceInspection" __autoremap="1" goal_pose="{workspace}"
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robot_name="rbs_arm" />
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</Sequence>
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</BehaviorTree>
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<!-- ////////// -->
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<BehaviorTree ID="WorkspaceInspection">
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<Sequence>
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<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
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pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" server_name="/move_topose" server_timeout="5000" />
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<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
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pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
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<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
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pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
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<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
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pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
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<Action ID="MoveToPoseArray" cancel_timeout="5000" pose_vec_in="{goal_pose}"
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pose_vec_out="{goal_pose}"
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robot_name="{robot_name}" server_name="/move_cartesian" server_timeout="5000" />
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</Sequence>
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</BehaviorTree>
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<!-- ////////// -->
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<include path="./nodes_interfaces/general.xml"/>
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<!-- ////////// -->
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</root>
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