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add a wait to give TF time to be available #636

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add a wait to give TF time to be available #636

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44 changes: 35 additions & 9 deletions src/moveit_pro_kinova_configs/kinova_sim/objectives/write_picknik.xml
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Original file line number Diff line number Diff line change
@@ -1,14 +1,22 @@
<?xml version="1.0" encoding="UTF-8" ?>
<root BTCPP_format="4" main_tree_to_execute="Write PickNik">
<!--//////////-->
<BehaviorTree
ID="Write PickNik"
_description=""
_favorite="true"
_hardcoded="false"
>
<BehaviorTree ID="Write PickNik" _description="" _favorite="true">
<Control ID="Sequence">
<SubTree ID="Move to Waypoint" _collapsed="true" waypoint_name="Home" />
<SubTree
ID="Move to Waypoint"
_collapsed="true"
waypoint_name="Home"
acceleration_scale_factor="1.0"
controller_action_server="/joint_trajectory_admittance_controller/follow_joint_trajectory"
controller_names="joint_trajectory_admittance_controller"
execution_pipeline="jtac"
joint_group_name="manipulator"
keep_orientation="false"
keep_orientation_tolerance="0.05"
link_padding="0.01"
seed="0"
velocity_scale_factor="1.0"
/>
<Action
ID="CreatePoseStamped"
reference_frame="base_link"
Expand All @@ -24,6 +32,11 @@
publish_rate="50"
/>
<Control ID="Sequence" name="TopLevelSequence">
<Action
ID="WaitForDuration"
name="WaitForTFToBeAvailable"
delay_duration="0.500"
/>
<Action
ID="SwitchController"
activate_controllers="joint_trajectory_admittance_controller"
Expand All @@ -33,11 +46,14 @@
controller_switch_action_name="/controller_manager/switch_controller"
strictness="1"
timeout="0.000000"
automatic_activation="true"
deactivate_controllers=""
/>
<Action
ID="LoadPoseStampedVectorFromYaml"
file_path="write_picknik_waypoints.yaml"
output="{pose_stamped_msgs}"
package_name=""
/>
<Action
ID="VisualizePath"
Expand All @@ -46,6 +62,8 @@
path="{pose_stamped_msgs}"
pose_marker_size="0.100000"
show_poses="false"
line_color_rgb="0;204;0"
line_width="0.010000"
/>
<Control ID="Fallback">
<Action
Expand All @@ -63,21 +81,29 @@
debug_solution="{debug_solution}"
ik_cartesian_space_density="0.010000"
ik_joint_space_density="0.100000"
max_optimizer_iterations="1"
/>
<Action
ID="WaitForMTCSolutionApproval"
solution="{debug_solution}"
cartesian_path_links="grasp_link"
/>
</Control>
<Action ID="ExecuteTrajectory" />
<Action
ID="ExecuteTrajectory"
goal_duration_tolerance="-1.000000"
joint_trajectory_msg="{joint_trajectory_msg}"
controller_action_name="/joint_trajectory_admittance_controller/follow_joint_trajectory"
execution_pipeline="jtac"
/>
</Control>
</Control>
</Control>
</BehaviorTree>
<TreeNodesModel>
<SubTree ID="Write PickNik">
<MetadataFields>
<Metadata runnable="true" />
<Metadata subcategory="Application - Advanced Examples" />
</MetadataFields>
</SubTree>
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