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Merge pull request #5 from PickNikRobotics/pre-commit-formatting
Pre commit formatting
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‎.pre-commit-config.yaml‎

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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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exclude: ^src/external_dependencies/
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks

‎README.md‎

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@@ -16,7 +16,7 @@ git submodule update --recursive --init
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## Working with Git Subtrees
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This repository was created through the combination of multiple repositories using git subtree.
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If you have no intrest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
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If you have no interest in manually pulling or pushing upstream changes, you can ignore the following section and treat this repository as a single repository.
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### Repository Structure
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‎src/example_behaviors/src/ndt_registration.cpp‎

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@@ -75,7 +75,7 @@ BT::PortsList NDTRegistration::providedPorts()
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}
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BT::KeyValueVector NDTRegistration::metadata()
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{
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return { {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
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return { {"subcategory", "Perception - 3D Point Cloud"}, {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
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}
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‎src/example_behaviors/src/ransac_registration.cpp‎

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@@ -82,7 +82,7 @@ BT::PortsList RANSACRegistration::providedPorts()
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BT::KeyValueVector RANSACRegistration::metadata()
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{
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return { {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
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return { {"subcategory", "Perception - 3D Point Cloud"}, {"description", "Finds the pose of a target point cloud relative to the base frame of a base point cloud using the Normal Distributions Transform (NDT) algorithm"} };
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}
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‎src/fanuc_sim/objectives/move_to_waypoint.xml‎

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<root BTCPP_format="4" main_tree_to_execute="Move to Waypoint">
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<BehaviorTree ID="Move to Waypoint" _description="This Objective is used when moving to one of the saved waypoints in your site configuration" _subtreeOnly="true">
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<Control ID="Sequence" name="root">
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<Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
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<Action ID="InitializeMTCTask" task_id="move_to_named_pose" controller_names="{controller_names}" task="{move_to_waypoint_task}"/>
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<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
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<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" constraints="{constraints}" task="{move_to_waypoint_task}"/>
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<Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
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<Action ID="BlockingExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Move to Waypoint">
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<input_port name="waypoint_name" default="Point A"/>
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<input_port name="joint_group_name" default="manipulator"/>
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<input_port name="planner_interface" default="moveit_default"/>
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<input_port name="controller_names" default="/joint_trajectory_controller"/>
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</SubTree>
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</TreeNodesModel>
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</root>
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<BehaviorTree
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ID="Move to Waypoint"
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_description="This Objective is used when moving to one of the saved waypoints in your site configuration"
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_subtreeOnly="true"
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>
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<Control ID="Sequence" name="root">
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<Action
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ID="RetrieveWaypoint"
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waypoint_joint_state="{target_joint_state}"
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waypoint_name="{waypoint_name}"
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joint_group_name="{joint_group_name}"
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/>
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<Action
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ID="InitializeMTCTask"
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task_id="move_to_named_pose"
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controller_names="{controller_names}"
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task="{move_to_waypoint_task}"
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/>
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<Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}" />
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<Action
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ID="SetupMTCMoveToJointState"
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joint_state="{target_joint_state}"
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name="SetupMTCMoveToJointState"
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planning_group_name="{joint_group_name}"
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planner_interface="{planner_interface}"
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constraints="{constraints}"
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task="{move_to_waypoint_task}"
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/>
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<Action
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ID="PlanMTCTask"
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solution="{move_to_waypoint_solution}"
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task="{move_to_waypoint_task}"
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/>
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<Action
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ID="BlockingExecuteMTCTask"
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solution="{move_to_waypoint_solution}"
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/>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Move to Waypoint">
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<input_port name="waypoint_name" default="Point A" />
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<input_port name="joint_group_name" default="manipulator" />
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<input_port name="planner_interface" default="moveit_default" />
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<input_port
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name="controller_names"
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default="/joint_trajectory_controller"
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/>
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</SubTree>
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</TreeNodesModel>
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</root>

‎src/fanuc_sim/objectives/teleoperate.xml‎

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<root BTCPP_format="4" main_tree_to_execute="Teleoperate">
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<!--//////////-->
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<BehaviorTree ID="Teleoperate" _description="Handles the different variations of teleoperation from the web UI. Can be used standalone." _favorite="false" _hardcoded="false">
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<SubTree ID="Request Teleoperation" enable_user_interaction="false" user_interaction_prompt="" initial_teleop_mode="3"/>
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</BehaviorTree>
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</root>
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<!--//////////-->
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<BehaviorTree
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ID="Teleoperate"
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_description="Handles the different variations of teleoperation from the web UI. Can be used standalone."
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_favorite="false"
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_hardcoded="false"
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>
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<SubTree
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ID="Request Teleoperation"
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enable_user_interaction="false"
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user_interaction_prompt=""
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initial_teleop_mode="3"
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/>
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</BehaviorTree>
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</root>

‎src/fanuc_sim/waypoints/waypoints.yaml‎

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[]
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[]

‎src/lab_sim/objectives/3_waypoint_pick_and_place.xml‎

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<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place"><!--//////////--><BehaviorTree ID="3 Waypoints Pick and Place" _description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position" _favorite="false"><Control ID="Sequence"><!--Reset the planning scene to ensure no old collision objects are hanging around--><Action ID="ClearSnapshot"/><!--Setup the environment to its "home" configuration - move to center and open gripper--><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/><!--Run pick and place on loop--><Decorator ID="KeepRunningUntilFailure"><Control ID="Sequence"><!--Pick object from original location, put it down at a different part of the table, and go back to center pose--><Control ID="Sequence"><SubTree ID="Move to Waypoint" waypoint_name="Pick Cube" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><SubTree ID="Move to Waypoint" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}" waypoint_name="Place Cube"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/></Control><!--Pick object from where it was placed, put it down on the original location, and go back to center pose--><Control ID="Sequence"><SubTree ID="Move to Waypoint" waypoint_name="Place Cube" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><SubTree ID="Move to Waypoint" waypoint_name="Pick Cube" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/><Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0"/><SubTree ID="Move to Waypoint" waypoint_name="Look at Table" joint_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planner_interface="moveit_default" constraints="{constraints}"/></Control></Control></Decorator></Control></BehaviorTree></root>
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<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
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<!--//////////-->
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<BehaviorTree
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ID="3 Waypoints Pick and Place"
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_description="Basic example of repeatedly grabbing a small (invisible) object, placing it at desired destination, and then moving back to a home position"
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_favorite="false"
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>
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<Control ID="Sequence">
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<!--Reset the planning scene to ensure no old collision objects are hanging around-->
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<Action ID="ClearSnapshot" />
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<!--Setup the environment to its "home" configuration - move to center and open gripper-->
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Look at Table"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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<Action
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ID="MoveGripperAction"
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gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
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position="0"
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/>
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<!--Run pick and place on loop-->
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<Decorator ID="KeepRunningUntilFailure">
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<Control ID="Sequence">
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<!--Pick object from original location, put it down at a different part of the table, and go back to center pose-->
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<Control ID="Sequence">
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Pick Cube"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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<Action
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ID="MoveGripperAction"
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gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
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position="0.7929"
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/>
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Look at Table"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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<SubTree
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ID="Move to Waypoint"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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waypoint_name="Place Cube"
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/>
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<Action
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ID="MoveGripperAction"
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gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
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position="0"
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/>
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Look at Table"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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</Control>
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<!--Pick object from where it was placed, put it down on the original location, and go back to center pose-->
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<Control ID="Sequence">
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Place Cube"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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<Action
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ID="MoveGripperAction"
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gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
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position="0.7929"
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/>
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Look at Table"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Pick Cube"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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<Action
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ID="MoveGripperAction"
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gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd"
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position="0"
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/>
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<SubTree
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ID="Move to Waypoint"
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waypoint_name="Look at Table"
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joint_group_name="manipulator"
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controller_names="/joint_trajectory_controller /robotiq_gripper_controller"
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planner_interface="moveit_default"
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constraints="{constraints}"
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/>
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</Control>
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</Control>
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</Decorator>
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</Control>
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</BehaviorTree>
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</root>

‎src/lab_sim/objectives/add_waypoints_to_mtc_task.xml‎

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<?xml version="1.0" encoding="utf-8"?>
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<?xml version="1.0" encoding="utf-8" ?>
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<root BTCPP_format="4" main_tree_to_execute="Add Waypoints to MTC Task">
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<!--//////////-->
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<BehaviorTree ID="Add Waypoints to MTC Task">
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<Control ID="Sequence">
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<Decorator ID="ForEachString" vector_in="{waypoint_names}" out="{waypoint_name}">
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<Decorator
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ID="ForEachString"
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vector_in="{waypoint_names}"
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out="{waypoint_name}"
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>
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<Control ID="Sequence">
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<Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="{waypoint_name}" joint_group_name="{joint_group_name}"/>
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<Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState" planning_group_name="{joint_group_name}" planner_interface="{planner_interface}" task="{mtc_task}"/>
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<Action
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ID="RetrieveWaypoint"
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waypoint_joint_state="{target_joint_state}"
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waypoint_name="{waypoint_name}"
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joint_group_name="{joint_group_name}"
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/>
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<Action
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ID="SetupMTCMoveToJointState"
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joint_state="{target_joint_state}"
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name="SetupMTCMoveToJointState"
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planning_group_name="{joint_group_name}"
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planner_interface="{planner_interface}"
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task="{mtc_task}"
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/>
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</Control>
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</Decorator>
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</Control>
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</BehaviorTree>
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<TreeNodesModel>
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<SubTree ID="Add Waypoints to MTC Task">
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<input_port name="joint_group_name" default="manipulator"/>
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<input_port name="waypoint_names" default="Pick Cube;Place Cube"/>
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<inout_port name="mtc_task" default="{mtc_task}"/>
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<input_port name="planner_interface" default="moveit_default"/>
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<input_port name="joint_group_name" default="manipulator" />
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<input_port name="waypoint_names" default="Pick Cube;Place Cube" />
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<inout_port name="mtc_task" default="{mtc_task}" />
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<input_port name="planner_interface" default="moveit_default" />
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</SubTree>
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</TreeNodesModel>
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</root>

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