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Add task_name to InitializeMTCTask #31

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Add task_name to InitializeMTCTask #31

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2 changes: 1 addition & 1 deletion examples/bt_allow_collisions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,7 @@ static const char* xml_text = R"(
collision_object="{cylinder}" />
<AddObjectToPlanningScene planning_scene_interface="{psi}"
collision_object="{cylinder}"/>
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="allow_collisions" />
<CreateMTCPipelinePlanner pipeline_id="ompl"
planner_id="RRTConnect"
solver="{rrt_connect}"
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2 changes: 1 addition & 1 deletion examples/bt_compute_ik.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ static const char* xml_text = R"(
collision_object="{cylinder}" />
<AddObjectToPlanningScene planning_scene_interface="{psi}"
collision_object="{cylinder}"/>
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="compute_ik" />
<CreateMTCPipelinePlanner pipeline_id="ompl"
planner_id="RRTConnect"
solver="{rrt_connect}"
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2 changes: 1 addition & 1 deletion examples/bt_demo.cpp
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Expand Up @@ -19,7 +19,7 @@ static const char* xml_text = R"(

<BehaviorTree ID="MainTree">
<Sequence name="root">
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="demo" />
<CreateMTCCurrentState stage="{stage}" />
<MoveMTCStageToTask child="{stage}" parent="{mtc_task}" />
<PlanMTCTask task="{mtc_task}" max_solutions="5" />
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2 changes: 1 addition & 1 deletion examples/bt_generate_place_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ static const char* xml_text = R"(
collision_object="{cylinder}" />
<AddObjectToPlanningScene planning_scene_interface="{psi}"
collision_object="{cylinder}"/>
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="generate_place_pose" />
<CreateMTCPipelinePlanner pipeline_id="ompl"
planner_id="RRTConnect"
solver="{rrt_connect}"
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2 changes: 1 addition & 1 deletion examples/bt_joint_interpolation_solver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ static const char* xml_text = R"(

<BehaviorTree ID="MainTree">
<Sequence name="root">
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="joint_interpolation_solver" />
<CreateMTCJointInterpolation solver="{joint_solver}" />
<CreateMTCCurrentState stage="{stage}" />
<MoveMTCStageToTask child="{stage}" parent="{mtc_task}" />
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2 changes: 1 addition & 1 deletion examples/bt_move_relative.cpp
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Expand Up @@ -23,7 +23,7 @@ static const char* xml_text = R"(

<BehaviorTree ID="MainTree">
<Sequence name="root">
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="move_relative" />
<CreateMTCPipelinePlanner pipeline_id="ompl"
planner_id="RRTConnect"
solver="{rrt_connect}" />
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2 changes: 1 addition & 1 deletion examples/bt_move_to.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ static const char* xml_text = R"(

<BehaviorTree ID="MainTree">
<Sequence name="root">
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="move_to" />
<CreateMTCPipelinePlanner pipeline_id="ompl"
planner_id="RRTConnect"
solver="{rrt_connect}"/>
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2 changes: 1 addition & 1 deletion examples/bt_pick_place.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ static const char* xml_text = R"(
<AddObjectToPlanningScene planning_scene_interface="{psi}" collision_object="{cylinder}" />

<!-- Create Task -->
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="pick_place" />

<!-- Add properpties to the Task -->
<SetMTCTaskPropertyString stage="{mtc_task}" property_name="eef" property="{eef}" />
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2 changes: 1 addition & 1 deletion examples/bt_serial_container.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ static const char* xml_text = R"(

<BehaviorTree ID="MainTree">
<Sequence name="root">
<InitializeMTCTask task="{mtc_task}" />
<InitializeMTCTask task="{mtc_task}" task_name="serial_container" />
<CreateMTCPipelinePlanner pipeline_id="ompl"
planner_id="RRTConnect"
solver="{rrt_connect}" />
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7 changes: 7 additions & 0 deletions src/initialize_mtc_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,13 @@ InitializeMTCTask::InitializeMTCTask(const std::string& name,

BT::NodeStatus InitializeMTCTask::tick()
{
std::string task_name;

if(!getInput("task_name", task_name))
return NodeStatus::FAILURE;

auto task = std::make_shared<moveit::task_constructor::Task>();
task->setName(task_name);
task->loadRobotModel();

setOutput("task", task);
Expand All @@ -25,6 +31,7 @@ BT::PortsList InitializeMTCTask::providedPorts()
return {
BT::OutputPort<moveit::task_constructor::TaskPtr>("task", "{mtc_task}",
"MoveIt Task Constructor task."),
BT::InputPort<std::string>("task_name", "task pipeline", "MoveIt Task Constructor task name.")
};
}

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