Integration with BehaviorTree.ROS2 #323
marip8
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Really nice work @marip8 👍 Would you happen to have a smaller(-ish) example tree perhaps? Might make it easier for potential users to figure out how to integrate / sequence the states. |
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Wait for digital input sub-tree
Use IO to start a grinding spindle device
Executing motion with trajectory mode
Executing motion with point queue mode
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I recently created a library of behavior tree node plugins for interacting with the MotoROS2 driver using BehaviorTree.ROS2. The repository can be found here:
https://github.com/marip8/motoros2_behavior_tree
You might find this useful for building a ROS2 application around a Yaskawa robot, such as this application based on
scan_n_plan_workshop. Contributions and feedback welcome!Beta Was this translation helpful? Give feedback.
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