From 7517cc21bc7da79d30fbdf9f17ffcafbb549d74b Mon Sep 17 00:00:00 2001 From: Alopez <alopez@iri.upc.edu> Date: Tue, 10 Jan 2023 10:46:31 +0100 Subject: [PATCH] Updated bt_definitions --- src/xml/bt_definitions.xml | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/src/xml/bt_definitions.xml b/src/xml/bt_definitions.xml index 8a1cdd1..dc30470 100644 --- a/src/xml/bt_definitions.xml +++ b/src/xml/bt_definitions.xml @@ -5,6 +5,16 @@ </BehaviorTree> <!-- ////////// --> <TreeNodesModel> + <!-- basic_nodes --> + <Action ID="NOP"/> + <Action ID="is_not_start_tree"/> + <Condition ID="async_is_start_tree"/> + <Action ID="is_not_stop_tree"/> + <Condition ID="async_is_stop_tree"/> + <Action ID="set_start_tree"/> + <Action ID="set_stop_tree"/> + <Action ID="reset_start_tree"/> + <Action ID="reset_stop_tree"/> <!-- tiago_arm_module --> <Action ID="sync_cancel_tiago_arm_action"/> <Action ID="async_cancel_tiago_arm_action"/> @@ -148,6 +158,18 @@ <Condition ID="is_tiago_arm_module_preempted"/> <Condition ID="is_tiago_arm_module_rejected"/> <Condition ID="is_tiago_arm_module_no_joint_states"/> + <!-- Client --> + <Action ID="set_tiago_arm_move_to_joints_input"> + <output_port name="target_joints"> The target JointState</output_port> + <output_port name="joint_tol"> Joints tolerance</output_port> + <output_port name="new_goal"> If it's a new_goal (Only used by async_move_to function)</output_port> + </Action> + <Action ID="set_tiago_arm_move_to_pose_input"> + <output_port name="pose"> The target pose</output_port> + <output_port name="position_tol"> Joints postion tolerance</output_port> + <output_port name="orientation_tol"> Joints orientation tolerance</output_port> + <output_port name="new_goal"> If it's a new_goal (Only used by async_move_to function)</output_port> + </Action> </TreeNodesModel> <!-- ////////// --> </root> -- GitLab