A customized bahavior tree package for mobile manipulators from Prof. Daehyung Park.

• symbol_grounding (std_msgs.String)

• get_object_pose (String_Pose)
• get_object_grasp_pose (String_Pose)
• get_object_height (String_Pose)
• get_object_rnd_pose (String_Pose)
• get_object_close_pose (String_Pose)
• arm_client/command (complex_action_client.srv.String_Int)
• remove_wm_object

Following ROS parameters need to be set before running this package:

• world_frame: (default: /base_footprint)
• arm_base_frame: (default: /ur_arm_base_link)
• grasp_offset_z: (default: 0.02)
• top_offset_z: (default: 0.15)
• gripper_open_pos
• gripper_close_pos
• gripper_open_force
• gripper_close_force
• init_config: A list joint angles to initialize before running subtrees (default: [0, -np.pi/2., np.pi/2., -np.pi/2., -np.pi/2., np.pi/4.])

sudo apt-get install ros-melodic-rqt-reconfigure

This package is under development...

You can visualize the tree using terminal:

py-trees-tree-watcher

or using GUI:

rqt_py_trees

You can test a static behavior tree:

ros2 launch ur5_demo ur5_robotiq_grasping_demo.launch.py

ros2 launch behavior_tree static_bt.launch.py

ros2 topic pub /move_cmd std_msgs/msg/Empty

Arm client service names must match with the names in subtrees' service names:

arm_client/command
arm_client/status