Update Take Snapshot to work as Subtree (#183)

PickNikRobotics · Jan 24, 2024 · dfc64d5 · dfc64d5
1 parent 14649e8
commit dfc64d5
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/picknik_ur_site_config/objectives/take_snapshot.xml b/src/picknik_ur_site_config/objectives/take_snapshot.xml
@@ -5,7 +5,11 @@
         <Control ID="Sequence">
             <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}" />
             <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
-            <Action ID="GetStringFromUser" parameter_name="take_snapshot.uuid" parameter_value="{uuid}" />  
+            <Control ID="Fallback" name="TryGetStringFromUser">
+                <Action ID="GetStringFromUser" parameter_name="take_snapshot.uuid" parameter_value="{uuid}" />
+                <!-- if we fail to get the string from the user fallback to an empty value for the uuid -->
+                <Action ID="Script" code="uuid := ''"/>
+            </Control>
             <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" point_cloud_uuid="{uuid}"/>
         </Control>
     </BehaviorTree>