diff --git a/cfg/TiagoPlayMotionBtClient.cfg b/cfg/TiagoPlayMotionBtClient.cfg
index 8f480c977966d487d2cabca61e36a55cde9dabd4..567e2b2ab9a6f5b022b2ccafdf2f7f71e1bae2bf 100755
--- a/cfg/TiagoPlayMotionBtClient.cfg
+++ b/cfg/TiagoPlayMotionBtClient.cfg
@@ -41,8 +41,6 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
add_bt_client_params(gen)
-gen.add("START", bool_t, 0, "synchronous start", False)
-gen.add("RESTART", bool_t, 0, "asynchronous restart of BT", False)
gen.add("motion_name", str_t, 0, "Motion name to execute", "")
gen.add("set_motion", bool_t, 0, "Execute selected motion", False)
# gen.add("cancel_motion", bool_t, 0, "Cancel current motion", False)
diff --git a/src/tiago_play_motion_bt_client_alg_node.cpp b/src/tiago_play_motion_bt_client_alg_node.cpp
index 6e9b5d1884a5b5c2b0a6591d2fe92c215be85b36..77d5ea57bbdb0c1b39afc67a3aa46fee3d5ec908 100644
--- a/src/tiago_play_motion_bt_client_alg_node.cpp
+++ b/src/tiago_play_motion_bt_client_alg_node.cpp
@@ -44,18 +44,6 @@ void TiagoPlayMotionModuleBtClientAlgNode::node_config_update(tiago_play_motion_
{
this->lock();
- if(config.START)
- {
- this->core.start_tree();
- config.START=false;
- }
-
- if(config.RESTART)
- {
- this->core.stop_tree();
- config.RESTART=false;
- }
-
if (config.set_motion)
{
this->set_motion = true;
diff --git a/src/xml/bt_definitions.xml b/src/xml/bt_definitions.xml
index 08372101d6b11391c2ac2b93b2516763c39408c7..0028574ec769cc58ec5ff0f1f4436e1397fbdc64 100644
--- a/src/xml/bt_definitions.xml
+++ b/src/xml/bt_definitions.xml
@@ -2,20 +2,40 @@
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
- <Action ID="NOP"/>
+ <Action ID="RUNNING"/>
</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"/>
+ <Action ID="RUNNING"/>
+ <Action ID="is_variable_true">
+ <input_port name="variable"> (bool): Bool variable to check.</input_port>
+ </Action>
+ <Action ID="is_variable_false">
+ <input_port name="variable"> (bool): Bool variable to check.</input_port>
+ </Action>
+ <Action ID="transform_pose">
+ <input_port name="pose_in"> (geometry_msgs::PoseStamped): Pose to be transformed.</input_port>
+ <input_port name="target_frame"> (std::string): Frame to transform the pose.</input_port>
+ <output_port name="pose_out"> (geometry_msgs::PoseStamped): Transformed pose.</output_port>
+ </Action>
+ <Action ID="compute_distance">
+ <input_port name="pose1"> (geometry_msgs::PoseStamped): Pose 1.</input_port>
+ <input_port name="pose2"> (geometry_msgs::PoseStamped): Pose 2.</input_port>
+ <output_port name="distance"> (double): Distance.</output_port>
+ </Action>
+ <Action ID="compare_bigger">
+ <input_port name="value1"> (double): Value 1.</input_port>
+ <input_port name="value2"> (double): Value 2.</input_port>
+ </Action>
+ <Action ID="compare_smaller">
+ <input_port name="value1"> (double): Value 1.</input_port>
+ <input_port name="value2"> (double): Value 2.</input_port>
+ </Action>
+ <Action ID="print_msg">
+ <input_port name="msg"> (std::string): Msg to print.</input_port>
+ <input_port name="type"> (std::string): It must be info, warn, error or debug.</input_port>
+ </Action>
<!-- tiago_play_motion_module -->
<Action ID="sync_cancel_tiago_play_motion_action"/>
<Action ID="async_cancel_tiago_play_motion_action"/>
diff --git a/src/xml/bt_test.xml b/src/xml/bt_test.xml
index 29804a4a04abac9ea7b34b5104a767d47606dfe7..f0a635a7b22d67a67213a13212475f23340c4442 100644
--- a/src/xml/bt_test.xml
+++ b/src/xml/bt_test.xml
@@ -3,7 +3,6 @@
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<SequenceStar>
- <Action ID="async_is_start_tree"/>
<SubTree ID="execute_motion"/>
</SequenceStar>
</BehaviorTree>
@@ -17,15 +16,35 @@
<!-- ////////// -->
<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"/>
+ <Action ID="RUNNING"/>
+ <Action ID="is_variable_true">
+ <input_port name="variable"> (bool): Bool variable to check.</input_port>
+ </Action>
+ <Action ID="is_variable_false">
+ <input_port name="variable"> (bool): Bool variable to check.</input_port>
+ </Action>
+ <Action ID="transform_pose">
+ <input_port name="pose_in"> (geometry_msgs::PoseStamped): Pose to be transformed.</input_port>
+ <input_port name="target_frame"> (std::string): Frame to transform the pose.</input_port>
+ <output_port name="pose_out"> (geometry_msgs::PoseStamped): Transformed pose.</output_port>
+ </Action>
+ <Action ID="compute_distance">
+ <input_port name="pose1"> (geometry_msgs::PoseStamped): Pose 1.</input_port>
+ <input_port name="pose2"> (geometry_msgs::PoseStamped): Pose 2.</input_port>
+ <output_port name="distance"> (double): Distance.</output_port>
+ </Action>
+ <Action ID="compare_bigger">
+ <input_port name="value1"> (double): Value 1.</input_port>
+ <input_port name="value2"> (double): Value 2.</input_port>
+ </Action>
+ <Action ID="compare_smaller">
+ <input_port name="value1"> (double): Value 1.</input_port>
+ <input_port name="value2"> (double): Value 2.</input_port>
+ </Action>
+ <Action ID="print_msg">
+ <input_port name="msg"> (std::string): Msg to print.</input_port>
+ <input_port name="type"> (std::string): It must be info, warn, error or debug.</input_port>
+ </Action>
<!-- tiago_play_motion_module -->
<Action ID="sync_cancel_tiago_play_motion_action"/>
<Action ID="async_cancel_tiago_play_motion_action"/>