Added BT register of action get_tiago_arm_group_joints

src/tiago_arm_bt_module.cpp

@@ -28,6 +28,8 @@ void CTiagoArmModuleBT::init(IriBehaviorTreeFactory &factory)
   BT::PortsList set_group_name_ports = {BT::InputPort<std::string>("group_id")};
   BT::PortsList get_group_name_ports = {BT::OutputPort<std::string>("group_id")};
 
+  BT::PortsList get_group_joints_ports = {BT::OutputPort<std::vector<std::string> >("joint_names")};
+
   BT::PortsList set_max_planning_attempts_ports = {BT::InputPort<unsigned int>("num")};
   BT::PortsList get_max_planning_attempts_ports = {BT::OutputPort<unsigned int>("num")};
 
@@ -75,6 +77,8 @@ void CTiagoArmModuleBT::init(IriBehaviorTreeFactory &factory)
 
   factory.registerSimpleAction("set_tiago_arm_group_name",  std::bind(&CTiagoArmModuleBT::set_tiago_arm_group_name, this, std::placeholders::_1), set_group_name_ports);
   factory.registerSimpleAction("get_tiago_arm_group_name",  std::bind(&CTiagoArmModuleBT::get_tiago_arm_group_name, this, std::placeholders::_1), get_group_name_ports);
+  
+  factory.registerSimpleAction("get_tiago_arm_group_joints",  std::bind(&CTiagoArmModuleBT::get_tiago_arm_group_joints, this, std::placeholders::_1), get_group_joints_ports);
 
   factory.registerSimpleAction("set_tiago_arm_max_planning_attempts",  std::bind(&CTiagoArmModuleBT::set_tiago_arm_max_planning_attempts, this, std::placeholders::_1), set_max_planning_attempts_ports);
   factory.registerSimpleAction("get_tiago_arm_max_planning_attempts",  std::bind(&CTiagoArmModuleBT::get_tiago_arm_max_planning_attempts, this, std::placeholders::_1), get_max_planning_attempts_ports);