Change Objectives due to reworked UI parameters (#154)

src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml

@@ -1,19 +1,8 @@
 <?xml version="1.0"?>
 <root BTCPP_format="4" main_tree_to_execute="Interpolate to Joint State">
-    <BehaviorTree ID="Interpolate to Joint State" _description="Move to a specified joint state">
+    <BehaviorTree ID="Interpolate to Joint State" _description="Move to a specified joint state using joint interpolation">
         <Control ID="Sequence" name="root">
-            <Control ID="Fallback" name="log_error_if_parameter_not_set">
-                <Action ID="GetJointStateFromUser" parameter_name="interpolate_to_joint_state.target_joint_state" parameter_value="{target_joint_state}" />
-                <Control ID="Sequence">
-                    <Action ID="LogMessage" message="This Objective is meant to be used by joint sliders in the Joints tab. Try it out there!" log_level="error" />
-                    <Action ID="AlwaysFailure" />
-                </Control>
-            </Control>
-            <SubTree ID="InterpolateToJointStateWaypoint" target_joint_state="{target_joint_state}"/>
-        </Control>
-    </BehaviorTree>
-    <BehaviorTree ID="InterpolateToJointStateWaypoint">
-        <Control ID="Sequence" name="interpolate_to_waypoint_main">
+            <Action ID="RetrieveJointStateParameter" timeout_sec="" joint_state="{target_joint_state}"/>
             <Action ID="InitializeMTCTask" task_id="interpolate_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{interpolate_to_waypoint_task}"/>
             <Action ID="SetupMTCCurrentState" task="{interpolate_to_waypoint_task}"/>
             <Action ID="SetupMTCInterpolateToJointState" joint_state="{target_joint_state}" name="SetupMTCInterpolateToJointState_First" planning_group_name="manipulator" task="{interpolate_to_waypoint_task}"/>

src/picknik_ur_base_config/objectives/move_to_joint_state.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<root BTCPP_format="4" main_tree_to_execute="Move to Joint State">
+    <BehaviorTree ID="Move to Joint State" _description="Move to a specified joint state">
+        <Control ID="Sequence" name="root">
+            <Action ID="RetrieveJointStateParameter" timeout_sec="" joint_state="{target_joint_state}"/>
+            <Action ID="InitializeMTCTask" task_id="move_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{move_to_waypoint_task}"/>
+            <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
+            <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" use_all_planners="true" constraints=""/>
+            <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
+            <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
+        </Control>
+    </BehaviorTree>
+</root>

src/picknik_ur_base_config/objectives/move_to_pose.xml

@@ -2,9 +2,9 @@
 <root BTCPP_format="4" main_tree_to_execute="Move to Pose">
     <BehaviorTree ID="Move to Pose" _description="Uses inverse kinematics to move the robot to a set gripper position">
         <Control ID="Sequence">
+            <Action ID="RetrievePoseParameter" timeout_sec="" pose="{target_pose}"/>
             <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
             <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
-            <Action ID="GetPoseFromUser" parameter_name="move_to_pose.target_pose" parameter_value="{target_pose}" />
             <Action ID="SetupMTCMoveToPose" ik_frame="manual_grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
             <Action ID="PlanMTCTask" solution="{move_to_pose_solution}" task="{move_to_pose_task}"/>
             <SubTree ID="Wait for Trajectory Approval if User Available" solution="{move_to_pose_solution}"/>