From f4be8c7e678eee742055eb76c68f0b97ae618c08 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Thu, 3 Dec 2020 15:47:56 +0100
Subject: [PATCH] Added BT register of action get_tiago_arm_group_joints
---
src/tiago_arm_bt_module.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/src/tiago_arm_bt_module.cpp b/src/tiago_arm_bt_module.cpp
index c660bb7..229df83 100644
--- a/src/tiago_arm_bt_module.cpp
+++ b/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);
--
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