request_teleoperation.xml

<?xml version='1.0' encoding='UTF-8'?>
<root BTCPP_format="4" main_tree_to_execute="Request Teleoperation">
  <!-- The integer value used here for teleoperation mode comes from the moveit_studio_sdk_msgs/TeleoperationMode ROS message. -->
  <BehaviorTree ID="Request Teleoperation" _description="Handles the different variations of teleoperation from the web UI, with the option of interactive user prompts and choosing the initial mode. Should be used as a subtree with port remapping as part of an another Objective." _favorite="false" _hardcoded="false">
    <Control ID="Sequence">
      <Action ID="Script" code="teleop_mode := 0"/>
      <Control ID="Parallel" success_count="1" failure_count="1">
        <Action ID="DoTeleoperateAction" enable_user_interaction="{enable_user_interaction}" user_interaction_prompt="{user_interaction_prompt}" initial_teleop_mode="{initial_teleop_mode}" current_teleop_mode="{teleop_mode}"/>
        <Decorator ID="KeepRunningUntilFailure">
          <Control ID="Sequence">
            <!-- Closing and opening the gripper -->
            <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 7">
              <SubTree ID="Close Gripper"/>
            </Decorator>
            <Decorator ID="ForceSuccess" _skipIf="teleop_mode != 6">
              <SubTree ID="Open Gripper"/>
            </Decorator>
            <!-- Joint sliders interpolate to joint state -->
            <Decorator ID="ForceSuccess" _while="teleop_mode == 5">
              <Control ID="Sequence">
                <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
                <SubTree ID="Interpolate to Joint State"/>
              </Control>
            </Decorator>
            <!-- Interactive markers move to pose -->
            <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
              <Control ID="Sequence">
                <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
                <SubTree ID="Move to Pose" controller_names="/joint_trajectory_controller"/>
              </Control>
            </Decorator>
            <!-- Waypoint buttons move to joint state -->
            <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
              <Control ID="Sequence">
                <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
                <SubTree ID="Move to Joint State"/>
              </Control>
            </Decorator>
            <!-- Cartesian and joint jogging -->
            <Control ID="Sequence" _while="teleop_mode == 2">
              <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
              <Action ID="TeleoperateTwist" controller_name="servo_controller"/>
            </Control>
            <Control ID="Sequence" _while="teleop_mode == 1">
              <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
              <Action ID="TeleoperateJointJog" controller_name="servo_controller"/>
            </Control>
          </Control>
        </Decorator>
      </Control>
    </Control>
  </BehaviorTree>
</root>