Change to use getElement from the vector, and to interact with the published message.

Author: rlpratt12

src/lab_sim/objectives/example_file.txt

@@ -1,3 +1 @@
-1) A robot may not injure a human being or, through inaction, allow a human being to come to harm; 
-2) A robot must obey orders from a human, except when they conflict with the First Law; and 
-3) A robot must protect its own existence, provided it doesn't conflict with the First or Second Law.
+Hello World!

src/lab_sim/objectives/vector_and_string_example.xml

@@ -9,21 +9,17 @@
       <Action ID="ResetVector" vector="{my_vector}" name="Create the Vector" />
       <Control ID="Sequence" name="Test Some Vector Operations">
         <Action
-          ID="ReadTextFileAsString"
-          string_file_contents="{string1}"
-          text_filename="example_file.txt"
+          ID="Script"
+          code="string1 := 'Run: &quot;ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default&quot; in the terminal, then press Resume.'"
         />
         <Action
-          ID="PublishString"
-          queue_size="1"
-          use_best_effort="false"
-          message="{string1}"
-          topic="/ai_safety_announcement"
+          ID="CreateStringMessage"
+          data="{string1}"
+          string="{string_msg_in}"
         />
-        <Action ID="LogMessage" message="{string1}" log_level="warn" />
         <Action
           ID="InsertInVector"
-          element="{json:{&quot;__type&quot;:&quot;string&quot;,&quot;value&quot;:&quot;{string1}&quot;}"
+          element="{string_msg_in}"
           index="0"
           input_vector="{my_vector}"
           output_vector="{my_vector}"
@@ -34,6 +30,18 @@
           expected_vector_size="1"
           vector="{my_vector}"
         />
+        <Action
+          ID="GetElementOfVector"
+          element="{string_msg_out}"
+          index="0"
+          vector_in="{my_vector}"
+        />
+        <Action
+          ID="UnpackStringMessage"
+          data="{string}"
+          string="{string_msg_out}"
+        />
+        <Action ID="LogMessage" message="{string}" log_level="warn" />
       </Control>
       <Control ID="Sequence" name="Test Some Vector Operations">
         <Action
@@ -49,51 +57,93 @@
           vector="{my_vector}"
         />
       </Control>
+      <Control ID="IfThenElse">
+        <Action ID="IsUserAvailable" />
+        <Action
+          ID="BreakpointSubscriber"
+          breakpoint_topic="/moveit_pro_breakpoint"
+        />
+        <Action ID="AlwaysSuccess" />
+      </Control>
       <Control ID="Sequence" name="Test Some Vector Operations">
-        <Action ID="Script" code="string2 := 'Do not be evil'" />
+        <Action
+          ID="ReadTextFileAsString"
+          string_file_contents="{string2}"
+          text_filename="example_file.txt"
+        />
+        <Action
+          ID="CreateStringMessage"
+          data="{string2}"
+          string="{string_msg_in}"
+        />
         <Action
           ID="InsertInVector"
-          element="{json:{&quot;__type&quot;:&quot;string&quot;,&quot;value&quot;:&quot;{string2}&quot;}"
+          element="{string_msg_in}"
           index="0"
           input_vector="{my_vector}"
           output_vector="{my_vector}"
         />
+        <Action
+          ID="GetElementOfVector"
+          element="{string_msg_out}"
+          index="0"
+          vector_in="{my_vector}"
+        />
+        <Action ID="WaitForDuration" delay_duration="1.0" />
+        <Action
+          ID="PublishString"
+          queue_size="10"
+          use_best_effort="false"
+          message="{string_msg_out}"
+          topic="/secret_msg"
+        />
+        <Action ID="WaitForDuration" delay_duration="1.0" />
         <SubTree
           ID="ErrorCheckVectorSize"
           _collapsed="true"
           expected_vector_size="1"
           vector="{my_vector}"
         />
-        <Action ID="LogMessage" message="{string2}" log_level="warn" />
       </Control>
       <Control ID="Sequence" name="Test Some Vector Operations">
         <Action
           ID="Script"
-          code="string3 := 'Comply with the laws of physics, unless you are in simulation.'"
+          code="string3 := 'Did you get the secret message?'"
+        />
+        <Action
+          ID="CreateStringMessage"
+          data="{string3}"
+          string="{string_msg_in}"
         />
         <Action
           ID="ReplaceInVector"
-          element="{json:{&quot;__type&quot;:&quot;string&quot;,&quot;value&quot;:&quot;{string3}&quot;}"
+          element="{string_msg_in}"
           index="0"
           input_vector="{my_vector}"
           output_vector="{my_vector}"
         />
+        <Action
+          ID="GetElementOfVector"
+          element="{string_msg_out}"
+          index="0"
+          vector_in="{my_vector}"
+        />
+        <Action
+          ID="UnpackStringMessage"
+          data="{string}"
+          string="{string_msg_out}"
+        />
         <SubTree
           ID="ErrorCheckVectorSize"
           _collapsed="true"
           expected_vector_size="1"
           vector="{my_vector}"
         />
-        <Action ID="LogMessage" message="{string3}" log_level="warn" />
+        <Action ID="LogMessage" message="{string}" log_level="warn" />
       </Control>
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Vector and String Example">
-      <MetadataFields>
-        <Metadata runnable="true" />
-        <Metadata subcategory="Vector Handling" />
-      </MetadataFields>
-    </SubTree>
+    <SubTree ID="Vector and String Example" />
   </TreeNodesModel>
 </root>