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corrected port names #283

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Jun 5, 2024
Merged

corrected port names #283

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12 changes: 6 additions & 6 deletions src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
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Original file line number Diff line number Diff line change
@@ -1,19 +1,19 @@
<?xml version='1.0' encoding='UTF-8'?>
<root BTCPP_format="4" main_tree_to_execute="Move Along Path">
<!-- ////////// -->
<!--//////////-->
<BehaviorTree ID="Move Along Path" _description="Moves the robot tip on a rectangular path." _favorite="true" _hardcoded="false">
<Control ID="Sequence" name="TopLevelSequence">
<Control ID="Sequence">
<Action ID="CreateStampedPose" reference_frame="base_link" position_xyz="-0.4;0.4;-0.0" orientation_xyzw="0.0;1.0;0.0;0.0" stamped_pose="{stamped_pose}"/>
<Action ID="AddPoseStampedToVector" input_pose="{stamped_pose}" pose_stamped_vector="{pose_stamped_vector}"/>
<Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{pose_stamped_vector}"/>
<Action ID="CreateStampedPose" reference_frame="base_link" position_xyz="0.4;0.4;-0.0" orientation_xyzw="0.0;1.0;0.0;0.0" stamped_pose="{stamped_pose}"/>
<Action ID="AddPoseStampedToVector" input_pose="{stamped_pose}" pose_stamped_vector="{pose_stamped_vector}"/>
<Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{pose_stamped_vector}"/>
<Action ID="CreateStampedPose" reference_frame="base_link" position_xyz="0.4;0.8;0.0" orientation_xyzw="0.0;1.0;0.0;0.0" stamped_pose="{stamped_pose}"/>
<Action ID="AddPoseStampedToVector" input_pose="{stamped_pose}" pose_stamped_vector="{pose_stamped_vector}"/>
<Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{pose_stamped_vector}"/>
<Action ID="CreateStampedPose" reference_frame="base_link" position_xyz="-0.4;0.8;0.0" orientation_xyzw="0.0;1.0;0.0;0.0" stamped_pose="{stamped_pose}"/>
<Action ID="AddPoseStampedToVector" input_pose="{stamped_pose}" pose_stamped_vector="{pose_stamped_vector}"/>
<Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{pose_stamped_vector}"/>
<Action ID="CreateStampedPose" reference_frame="base_link" position_xyz="-0.4;0.4;-0.0" orientation_xyzw="0.0;1.0;0.0;0.0" stamped_pose="{stamped_pose}"/>
<Action ID="AddPoseStampedToVector" input_pose="{stamped_pose}" pose_stamped_vector="{pose_stamped_vector}"/>
<Action ID="AddPoseStampedToVector" input="{stamped_pose}" vector="{pose_stamped_vector}"/>
</Control>
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
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