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update use_all_planners -> planner_interface
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25 changes: 14 additions & 11 deletions
25
src/picknik_ur_base_config/objectives/move_to_waypoint.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,13 +1,16 @@ | ||
| <?xml version="1.0"?> | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root BTCPP_format="4" main_tree_to_execute="Move to Waypoint"> | ||
| <BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration"> | ||
| <Control ID="Sequence" name="root"> | ||
| <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/> | ||
| <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/> | ||
| <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/> | ||
| <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" use_all_planners="{use_all_planners}" constraints="{constraints}" task="{move_to_waypoint_task}"/> | ||
| <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/> | ||
| <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/> | ||
| </Control> | ||
| </BehaviorTree> | ||
| <BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration"> | ||
| <Control ID="Sequence" name="root"> | ||
| <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/> | ||
| <Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/> | ||
| <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/> | ||
| <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/> | ||
| <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/> | ||
| <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/> | ||
| </Control> | ||
| </BehaviorTree> | ||
| <TreeNodesModel> | ||
| <SubTree ID="Move to Waypoint"/> | ||
| </TreeNodesModel> | ||
| </root> |
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15 changes: 15 additions & 0 deletions
15
src/picknik_ur_gazebo_config/objectives/mtc_approach_grasp.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root BTCPP_format="4" main_tree_to_execute="MTC Cartesian Move To JointState"> | ||
| <!--//////////--> | ||
| <BehaviorTree ID="MTC Cartesian Move To JointState" _description="" _favorite="true" _hardcoded="false"> | ||
| <Control ID="Sequence" name="TopLevelSequence"> | ||
| <Action ID="InitializeMTCTask" task_id="test"/> | ||
| <Action ID="SetupMTCCurrentState"/> | ||
| <Action ID="CreateJointState" joint_names="elbow_joint" positions="1.10" velocities="0.0" efforts="0.0"/> | ||
| <Action ID="SetupMTCCartesianMoveToJointState" joint_state="{joint_state_msg}"/> | ||
| <Action ID="PlanMTCTask"/> | ||
| <Action ID="WaitForUserTrajectoryApproval"/> | ||
| <Action ID="ExecuteMTCTask"/> | ||
| </Control> | ||
| </BehaviorTree> | ||
| </root> |
14 changes: 14 additions & 0 deletions
14
src/picknik_ur_gazebo_config/objectives/mtc_move_along_frame.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <root BTCPP_format="4" main_tree_to_execute="MTC Move Along Frame"> | ||
| <!--//////////--> | ||
| <BehaviorTree ID="MTC Move Along Frame" _description="" _favorite="true" _hardcoded="false"> | ||
| <Control ID="Sequence" name="TopLevelSequence"> | ||
| <Action ID="InitializeMTCTask" task_id="test"/> | ||
| <Action ID="SetupMTCCurrentState"/> | ||
| <Action ID="SetupMTCMoveAlongFrameAxis" axis_y="0.00000" axis_frame="world" max_distance="0.500000"/> | ||
| <Action ID="PlanMTCTask"/> | ||
| <Action ID="WaitForUserTrajectoryApproval"/> | ||
| <Action ID="ExecuteMTCTask"/> | ||
| </Control> | ||
| </BehaviorTree> | ||
| </root> |
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