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labrobotica
ros
platforms
TIAGo
iri_tiago_arm_module
Commits
0881fa1d
Commit
0881fa1d
authored
4 years ago
by
Alejandro Lopez Gestoso
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Fixedoverride of module default values
parent
90d4657a
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src/xml/bt_test.xml
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14 additions, 14 deletions
src/xml/bt_test.xml
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14 deletions
src/xml/bt_test.xml
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14
−
14
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0881fa1d
...
@@ -37,26 +37,26 @@
...
@@ -37,26 +37,26 @@
</Action>
</Action>
<Action
ID=
"sync_tiago_arm_move_to_joints"
>
<Action
ID=
"sync_tiago_arm_move_to_joints"
>
<input_port
name=
"target_joints"
>
The target JointState
</input_port>
<input_port
name=
"target_joints"
>
The target JointState
</input_port>
<input_port
default=
"0.1"
name=
"joint_tol"
>
Joints tolerance
</input_port>
<input_port
name=
"joint_tol"
>
Joints tolerance
</input_port>
</Action>
</Action>
<Action
ID=
"async_tiago_arm_move_to_joints"
>
<Action
ID=
"async_tiago_arm_move_to_joints"
>
<input_port
name=
"target_joints"
>
The target JointState
</input_port>
<input_port
name=
"target_joints"
>
The target JointState
</input_port>
<input_port
default=
"0.1"
name=
"joint_tol"
>
Joints tolerance
</input_port>
<input_port
name=
"joint_tol"
>
Joints tolerance
</input_port>
<input_port
default=
"True"
name=
"new_goal"
>
If it's a new_goal
</input_port>
<input_port
name=
"new_goal"
>
If it's a new_goal
</input_port>
</Action>
</Action>
<Action
ID=
"get_tiago_arm_current_joint_angles"
>
<Action
ID=
"get_tiago_arm_current_joint_angles"
>
<output_port
name=
"joint_states"
>
The current JointState
</output_port>
<output_port
name=
"joint_states"
>
The current JointState
</output_port>
</Action>
</Action>
<Action
ID=
"sync_tiago_arm_move_to_pose"
>
<Action
ID=
"sync_tiago_arm_move_to_pose"
>
<input_port
name=
"pose"
>
The target pose
</input_port>
<input_port
name=
"pose"
>
The target pose
</input_port>
<input_port
default=
"0.01"
name=
"position_tol"
>
Position tolerance
</input_port>
<input_port
name=
"position_tol"
>
Position tolerance
</input_port>
<input_port
default=
"0.1"
name=
"orientation_tol"
>
Orientation tolerance
</input_port>
<input_port
name=
"orientation_tol"
>
Orientation tolerance
</input_port>
</Action>
</Action>
<Action
ID=
"async_tiago_arm_move_to_pose"
>
<Action
ID=
"async_tiago_arm_move_to_pose"
>
<input_port
name=
"pose"
>
The target pose
</input_port>
<input_port
name=
"pose"
>
The target pose
</input_port>
<input_port
default=
"0.01"
name=
"position_tol"
>
Position tolerance
</input_port>
<input_port
name=
"position_tol"
>
Position tolerance
</input_port>
<input_port
default=
"0.1"
name=
"orientation_tol"
>
Orientation tolerance
</input_port>
<input_port
name=
"orientation_tol"
>
Orientation tolerance
</input_port>
<input_port
default=
"True"
name=
"new_goal"
>
If it's a new_goal
</input_port>
<input_port
name=
"new_goal"
>
If it's a new_goal
</input_port>
</Action>
</Action>
<Action
ID=
"get_tiago_arm_current_pose"
>
<Action
ID=
"get_tiago_arm_current_pose"
>
<output_port
name=
"pose"
>
The current pose
</output_port>
<output_port
name=
"pose"
>
The current pose
</output_port>
...
@@ -122,7 +122,7 @@
...
@@ -122,7 +122,7 @@
</Action>
</Action>
<Action
ID=
"tiago_arm_attach_object_to_robot"
>
<Action
ID=
"tiago_arm_attach_object_to_robot"
>
<input_port
name=
"name"
>
The object name
</input_port>
<input_port
name=
"name"
>
The object name
</input_port>
<input_port
default=
"gripper_link"
name=
"link"
>
The gripper link
</input_port>
<input_port
name=
"link"
>
The gripper link
</input_port>
</Action>
</Action>
<Action
ID=
"tiago_arm_dettach_object_from_robot"
>
<Action
ID=
"tiago_arm_dettach_object_from_robot"
>
<input_port
name=
"name"
>
The object name
</input_port>
<input_port
name=
"name"
>
The object name
</input_port>
...
@@ -136,19 +136,19 @@
...
@@ -136,19 +136,19 @@
<Action
ID=
"tiago_arm_clear_path_constraints"
/>
<Action
ID=
"tiago_arm_clear_path_constraints"
/>
<Action
ID=
"tiago_arm_add_orientation_path_constraint"
>
<Action
ID=
"tiago_arm_add_orientation_path_constraint"
>
<input_port
name=
"quat"
>
The orientation constraint
</input_port>
<input_port
name=
"quat"
>
The orientation constraint
</input_port>
<input_port
default=
"0.1"
name=
"orientation_tol"
>
The orientation constraint tolerance
</input_port>
<input_port
name=
"orientation_tol"
>
The orientation constraint tolerance
</input_port>
</Action>
</Action>
<Action
ID=
"tiago_arm_add_plane_path_constraint"
>
<Action
ID=
"tiago_arm_add_plane_path_constraint"
>
<input_port
name=
"plane"
>
The plane definition
</input_port>
<input_port
name=
"plane"
>
The plane definition
</input_port>
<input_port
name=
"frame_id"
>
The plane frame_id
</input_port>
<input_port
name=
"frame_id"
>
The plane frame_id
</input_port>
<input_port
default=
"0.0"
name=
"offset"
>
The plane offset
</input_port>
<input_port
name=
"offset"
>
The plane offset
</input_port>
<input_port
default=
"0.1"
name=
"position_tol"
>
The position tolerance
</input_port>
<input_port
name=
"position_tol"
>
The position tolerance
</input_port>
</Action>
</Action>
<Action
ID=
"tiago_arm_add_plane_path_constraint_normal"
>
<Action
ID=
"tiago_arm_add_plane_path_constraint_normal"
>
<input_port
name=
"normal"
>
The plane definition
</input_port>
<input_port
name=
"normal"
>
The plane definition
</input_port>
<input_port
name=
"frame_id"
>
The plane frame_id
</input_port>
<input_port
name=
"frame_id"
>
The plane frame_id
</input_port>
<input_port
default=
"0.0"
name=
"offset"
>
The plane offset
</input_port>
<input_port
name=
"offset"
>
The plane offset
</input_port>
<input_port
default=
"0.1"
name=
"position_tol"
>
The position tolerance
</input_port>
<input_port
name=
"position_tol"
>
The position tolerance
</input_port>
</Action>
</Action>
<Action
ID=
"tiago_arm_add_joint_goal_constraint"
>
<Action
ID=
"tiago_arm_add_joint_goal_constraint"
>
<input_port
name=
"joint_names"
>
The joint names
</input_port>
<input_port
name=
"joint_names"
>
The joint names
</input_port>
...
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