This PR adds behavior trees to start and stop MoveIt Servo. Although stopping is only one service call, starting is two (switching the controllers, and then starting servo).
Testing procedure
Launch the code as documented in the README.
[x] ros2 run ada_moveit ada_keyboard_teleop.py. Verify it doesn't servo the arm.
[x] ros2 run ada_moveit ada_keyboard_teleop.py. Verify it doesn't servo the arm.
Before opening a pull request
[x] Format your code using black formatterpython3 -m black .
[x] Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..
Description
This PR adds behavior trees to start and stop MoveIt Servo. Although stopping is only one service call, starting is two (switching the controllers, and then starting servo).
Testing procedure
Launch the code as documented in the README.
ros2 run ada_moveit ada_keyboard_teleop.py. Verify it doesn't servo the arm.ros2 action send_goal /StartServo ada_feeding_msgs/action/Trigger "{}" --feedbackros2 run ada_moveit ada_keyboard_teleop.py. Verify it does servo the arm.ros2 action send_goal /StopServo ada_feeding_msgs/action/Trigger "{}" --feedbackros2 run ada_moveit ada_keyboard_teleop.py. Verify it doesn't servo the arm.Before opening a pull request
python3 -m black .ada_feedingdirectory, run:pylint --recursive=y --rcfile=.pylintrc ..Before Merging
Squash & Merge