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Fix register cad part objective #396

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merged 2 commits into from
Nov 15, 2024
Merged

Fix register cad part objective #396

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f240e9a
Fix register cad part objective
dsobek Nov 14, 2024
9bdbbd2
fix: pose_stamped port for output on Blackboard
mewtwoshaurd Nov 15, 2024
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1 change: 0 additions & 1 deletion src/arm_on_rail_sim/objectives/load_mesh_as_green_poincloud.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@
<TreeNodesModel>
<SubTree ID="Load Mesh as Green Pointcloud">
<output_port name="point_cloud" default="{green_cloud}" />
<input_port name="_collapsed" default="true" />
<input_port name="initial_pose" default="{stamped_pose}" />
<MetadataFields>
<Metadata subcategory="Perception - 3D Point Cloud" />
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1 change: 0 additions & 1 deletion src/arm_on_rail_sim/objectives/load_mesh_as_red_pointcloud.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,6 @@
<TreeNodesModel>
<SubTree ID="Load Mesh as Red Pointcloud">
<output_port name="point_cloud" default="{red_cloud}" />
<input_port name="_collapsed" default="false" />
<input_port name="initial_pose" default="{stamped_pose}" />
<MetadataFields>
<Metadata subcategory="Perception - 3D Point Cloud" />
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6 changes: 3 additions & 3 deletions src/arm_on_rail_sim/objectives/register_cad_part.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<BehaviorTree ID="Register CAD Part" _description="" _favorite="true">
<Control ID="Sequence" name="TopLevelSequence">
<Action ID="ClearSnapshot" />
<SubTree ID="Look at table" _collapsed="true" />
<SubTree ID="Look at table" _collapsed="false" />
<Action
ID="CreateStampedPose"
position_xyz="0.02;.75;0.58"
Expand All @@ -15,7 +15,7 @@
ID="Load Mesh as Red Pointcloud"
_collapsed="false"
output_cloud="{red_cloud}"
initial_pose="{stamped_pose}"
initial_pose="{pose_stamped}"
point_cloud="{red_cloud}"
/>
<Action ID="SendPointCloudToUI" point_cloud="{red_cloud}" />
Expand All @@ -41,7 +41,7 @@
ID="Load Mesh as Green Pointcloud"
_collapsed="false"
output_cloud="{green_cloud}"
initial_pose="{stamped_pose}"
initial_pose="{pose_stamped}"
point_cloud="{green_cloud}"
/>
<Action
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