remap ports for move to waypoint (#312)

PickNikRobotics · Jul 15, 2024 · 1934127 · 1934127
1 parent 21ae103
commit 1934127
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/src/picknik_ur_base_config/objectives/move_to_waypoint.xml b/src/picknik_ur_base_config/objectives/move_to_waypoint.xml
@@ -11,6 +11,11 @@
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Move to Waypoint"/>
+    <SubTree ID="Move to Waypoint">
+      <input_port name="waypoint_name" default=""/>
+      <input_port name="joint_group_name" default="manipulator"/>
+      <input_port name="planner_interface" default="moveit_default"/>
+      <input_port name="controller_names" default="/joint_trajectory_controller"/>
+    </SubTree>
   </TreeNodesModel>
 </root>