Update Cycle Between Waypoints example to use Pro RRT (#324)

PickNikRobotics · Aug 6, 2024 · b13c751 · b13c751
1 parent 0cc90f5
commit b13c751
Showing 1 changed file with 10 additions and 10 deletions.
diff --git a/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml b/src/picknik_ur_mock_hw_config/objectives/cycle_between_waypoints.xml
@@ -1,11 +1,11 @@
-<?xml version="1.0"?>
-  <root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
-    <BehaviorTree ID="Cycle Between Waypoints" _description="Example of repeatedly moving between two saved poses." _favorite="true">
-        <Decorator ID="KeepRunningUntilFailure">
-            <Control ID="Sequence">
-                <SubTree ID="Move to Waypoint" waypoint_name="Look at Left Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
-                <SubTree ID="Move to Waypoint" waypoint_name="Look at Machine" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default"/>
-            </Control>
-        </Decorator>
-    </BehaviorTree>
+<?xml version='1.0' encoding='UTF-8'?>
+<root BTCPP_format="4" main_tree_to_execute="Cycle Between Waypoints">
+  <BehaviorTree ID="Cycle Between Waypoints" _description="Example of repeatedly moving between two saved poses." _favorite="true">
+    <Decorator ID="KeepRunningUntilFailure">
+      <Control ID="Sequence">
+        <SubTree ID="Move to Waypoint" waypoint_name="Grasp Left" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="pro_rrt"/>
+        <SubTree ID="Move to Waypoint" waypoint_name="Grasp Right" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="pro_rrt"/>
+      </Control>
+    </Decorator>
+  </BehaviorTree>
 </root>