Port Pick/Place demo to ROS 2 #29
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We must stop the planning thread fast when the halt() method is invoked. https://www.behaviortree.dev/docs/guides/asynchronous_nodes#the-problem-with-multi-threading
* [refac] template stage/container moves to container/task * [fix] container double delete Remove container OutputPort. Pass directly the task to add stages. * Update examples
--------- Co-authored-by: bob <[email protected]> Co-authored-by: Captain Yoshi <[email protected]>
* Pass properties by their parent * [cleanup] Add comments + update stage/container moving to new API --------- Co-authored-by: bob <[email protected]> Co-authored-by: Captain Yoshi <[email protected]>
Gives the user a chance to connect to Groot2.
No need to remap the task solution topic manually.
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Porting the recent commits done in the master branch to ROS 2.
The main changes I made are that I followed a similar approach to moveit_task_constructor_demo to launch the pick and place demo (check the readme). I reused their launch file to bring up the robot and rviz (that's why I also deleted the rviz file) and launched
run.launch.pyto run the BT executor. This is especially important in ROS 2 because the task and the pipeline planner require an instance of the node so they get all moveit parameters from it, so setting up a launch file is much more convenient. We could also adopt a similar approach as they use with theexecparameter to launch different examples, although I agree with the roadmap to convert the current examples to tests.Feel free to merge it now or wait until the 1.0 release 👍