PickNikRobotics · sea-bass · Apr 19, 2023 · Apr 18, 2023
diff --git a/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="3 Waypoints Pick and Place">
+<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
     <!-- ////////// -->
     <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly grab a small object, place it at desired destination, and then navigate to specified waypoint until failure">
         <Control ID="Sequence">

diff --git a/src/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-  <root main_tree_to_execute="Clear Snapshot">
+  <root BTCPP_format="4" main_tree_to_execute="Clear Snapshot">
     <!-- ////////// -->
     <BehaviorTree ID="Clear Snapshot" _description="Clear the point cloud snapshot">
         <Action ID="ClearSnapshot" />

diff --git a/src/picknik_ur_base_config/objectives/close_gripper.xml b/src/picknik_ur_base_config/objectives/close_gripper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Close Gripper">
+<root BTCPP_format="4" main_tree_to_execute="Close Gripper">
     <BehaviorTree ID="Close Gripper" _description="Close the gripper">
         <Sequence name="root">
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>

diff --git a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Move to Joint State">
+<root BTCPP_format="4" main_tree_to_execute="Move to Joint State">
     <BehaviorTree ID="Move to Joint State" _description="Single-node behavior to move to a specified joint state">
         <Action ID="MoveToJointState" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planning_group_name="manipulator" waypoint_name="Home" />
     </BehaviorTree>

diff --git a/src/picknik_ur_base_config/objectives/move_to_known_pose.xml b/src/picknik_ur_base_config/objectives/move_to_known_pose.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Move to Known Pose">
+<root BTCPP_format="4" main_tree_to_execute="Move to Known Pose">
     <BehaviorTree ID="Move to Known Pose" _description="Move to one of the known poses available in the Endpoint tab">
         <Sequence name="root">
-            <SubTreePlus ID="MoveToWaypoint" waypoint_name="{move_to_known_pose.target_state_name}"/>
+            <SubTree ID="MoveToWaypoint" waypoint_name="{move_to_known_pose.target_state_name}"/>
         </Sequence>
     </BehaviorTree>
     <BehaviorTree ID="MoveToWaypoint">

diff --git a/src/picknik_ur_base_config/objectives/move_to_named_pose.xml b/src/picknik_ur_base_config/objectives/move_to_named_pose.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Move to Named Pose">
+<root BTCPP_format="4" main_tree_to_execute="Move to Named Pose">
     <BehaviorTree ID="Move to Named Pose" _description="This Objective is used when moving to one of the saved waypoints in your site configuration">
         <Sequence name="root">
             <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="Home"/>

diff --git a/src/picknik_ur_base_config/objectives/open_gripper.xml b/src/picknik_ur_base_config/objectives/open_gripper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Open Gripper">
+<root BTCPP_format="4" main_tree_to_execute="Open Gripper">
     <!-- ////////// -->
     <BehaviorTree ID="Open Gripper" _description="Open the gripper">
         <Sequence name="root">

diff --git a/src/picknik_ur_base_config/objectives/teleoperate.xml b/src/picknik_ur_base_config/objectives/teleoperate.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Teleoperate">
+<root BTCPP_format="4" main_tree_to_execute="Teleoperate">
     <BehaviorTree ID="Teleoperate" _description="Teleoperate the robot from the Web UI">
         <Sequence name="root">
             <Action ID="Teleoperate" controller_name="streaming_controller"/>

diff --git a/src/picknik_ur_base_config/objectives/tree_nodes_model.xml b/src/picknik_ur_base_config/objectives/tree_nodes_model.xml
@@ -310,9 +310,9 @@
             </description>
             <input_port name="solution" default="{mtc_solution}">MoveIt Task Constructor plan solution.</input_port>
         </Action>
-        <SubTreePlus ID="MoveToWaypoint">
+        <SubTree ID="MoveToWaypoint">
             <description/>
             <input_port name="waypoint_name" default="Forward Down">Name of the waypoint to move to.</input_port>
-        </SubTreePlus>
+        </SubTree>
     </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_site_config/objectives/say_hello.xml b/src/picknik_ur_site_config/objectives/say_hello.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-  <root main_tree_to_execute="Say Hello">
+  <root BTCPP_format="4" main_tree_to_execute="Say Hello">
     <BehaviorTree ID="Say Hello" _description="Will always succeed and log the error message Hello Woold!">
         <Sequence>
             <Action ID="HelloWorld"/>

diff --git a/src/picknik_ur_site_config/objectives/wave_hello.xml b/src/picknik_ur_site_config/objectives/wave_hello.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-  <root main_tree_to_execute="Wave Hello">
+  <root BTCPP_format="4" main_tree_to_execute="Wave Hello">
     <BehaviorTree ID="Wave Hello" _description="Waves the end-effector side to side from the Home waypoint">
         <Sequence>
             <Action ID="RetrieveWaypoint" waypoint_name="Home" waypoint_joint_state="{target_joint_state}"/>