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Add request teleoperation for mock hw config #235

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Mar 7, 2024
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Add request teleoperation for mock hw config #235

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e33fe48
Add request teleoperation for mock hw config
Abishalini Mar 6, 2024
c3dfcb9
Move objective
Abishalini Mar 6, 2024
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53 changes: 53 additions & 0 deletions src/picknik_ur_mock_hw_config/objectives/request_teleoperation.xml
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Original file line number Diff line number Diff line change
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<?xml version='1.0' encoding='UTF-8'?>
<root BTCPP_format="4" main_tree_to_execute="Request Teleoperation">
<!-- The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message. -->
<BehaviorTree ID="Request Teleoperation" _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective." _favorite="false" _hardcoded="false">
<Control ID="Sequence">
<Action ID="Script" code="teleop_mode := 0"/>
<Control ID="Parallel" success_count="1" failure_count="1">
<Action ID="DoTeleoperateAction" enable_user_interaction="{enable_user_interaction}" user_interaction_prompt="{user_interaction_prompt}" initial_teleop_mode="{initial_teleop_mode}" current_teleop_mode="{teleop_mode}"/>
<Decorator ID="KeepRunningUntilFailure">
<Control ID="Sequence">
<!-- Closing and opening the gripper -->
<Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7">
<SubTree ID="Close Gripper"/>
</Decorator>
<Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6">
<SubTree ID="Open Gripper"/>
</Decorator>
<!-- Joint sliders interpolate to joint state -->
<Decorator ID="ForceSuccess" _while="teleop_mode == 5">
<Control ID="Sequence">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
<SubTree ID="Interpolate to Joint State"/>
</Control>
</Decorator>
<!-- Interactive markers move to pose -->
<Decorator ID="ForceSuccess" _while="teleop_mode == 4">
<Control ID="Sequence">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
<SubTree ID="Move to Pose"/>
</Control>
</Decorator>
<!-- Waypoint buttons move to joint state -->
<Decorator ID="ForceSuccess" _while="teleop_mode == 3">
<Control ID="Sequence">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
<SubTree ID="Move to Joint State"/>
</Control>
</Decorator>
<!-- Cartesian and joint jogging -->
<Control ID="Sequence" _while="teleop_mode == 2">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
<Action ID="TeleoperateTwist" controller_name="servo_controller"/>
</Control>
<Control ID="Sequence" _while="teleop_mode == 1">
<Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
<Action ID="TeleoperateJointJog" controller_name="servo_controller"/>
</Control>
</Control>
</Decorator>
</Control>
</Control>
</BehaviorTree>
</root>
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