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Add request teleoperation for mock hw config (#235)
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src/picknik_ur_site_config/objectives/request_teleoperation.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root BTCPP_format="4" main_tree_to_execute="Request Teleoperation"> | ||
| <!-- The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message. --> | ||
| <BehaviorTree ID="Request Teleoperation" _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective." _favorite="false" _hardcoded="false"> | ||
| <Control ID="Sequence"> | ||
| <Action ID="Script" code="teleop_mode := 0"/> | ||
| <Control ID="Parallel" success_count="1" failure_count="1"> | ||
| <Action ID="DoTeleoperateAction" enable_user_interaction="{enable_user_interaction}" user_interaction_prompt="{user_interaction_prompt}" initial_teleop_mode="{initial_teleop_mode}" current_teleop_mode="{teleop_mode}"/> | ||
| <Decorator ID="KeepRunningUntilFailure"> | ||
| <Control ID="Sequence"> | ||
| <!-- Closing and opening the gripper --> | ||
| <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7"> | ||
| <SubTree ID="Close Gripper"/> | ||
| </Decorator> | ||
| <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6"> | ||
| <SubTree ID="Open Gripper"/> | ||
| </Decorator> | ||
| <!-- Joint sliders interpolate to joint state --> | ||
| <Decorator ID="ForceSuccess" _while="teleop_mode == 5"> | ||
| <Control ID="Sequence"> | ||
| <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/> | ||
| <SubTree ID="Interpolate to Joint State"/> | ||
| </Control> | ||
| </Decorator> | ||
| <!-- Interactive markers move to pose --> | ||
| <Decorator ID="ForceSuccess" _while="teleop_mode == 4"> | ||
| <Control ID="Sequence"> | ||
| <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/> | ||
| <SubTree ID="Move to Pose"/> | ||
| </Control> | ||
| </Decorator> | ||
| <!-- Waypoint buttons move to joint state --> | ||
| <Decorator ID="ForceSuccess" _while="teleop_mode == 3"> | ||
| <Control ID="Sequence"> | ||
| <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/> | ||
| <SubTree ID="Move to Joint State"/> | ||
| </Control> | ||
| </Decorator> | ||
| <!-- Cartesian and joint jogging --> | ||
| <Control ID="Sequence" _while="teleop_mode == 2"> | ||
| <Action ID="SwitchUIPrimaryView" primary_view_name="/wrist_mounted_camera/color/image_raw"/> | ||
| <Action ID="TeleoperateTwist" controller_name="servo_controller"/> | ||
| </Control> | ||
| <Control ID="Sequence" _while="teleop_mode == 1"> | ||
| <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/> | ||
| <Action ID="TeleoperateJointJog" controller_name="servo_controller"/> | ||
| </Control> | ||
| </Control> | ||
| </Decorator> | ||
| </Control> | ||
| </Control> | ||
| </BehaviorTree> | ||
| </root> |