Merge pull request #15 from PickNikRobotics/objective-fixes

Updating objectives

Author: MikeWrock

src/fanuc_sim/objectives/request_teleoperation.xml

@@ -29,10 +29,6 @@
             <!--Joint sliders interpolate to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 5">
               <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -67,10 +63,6 @@
             <!--Interactive markers move to pose-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 4">
               <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -105,10 +97,6 @@
             <!--Waypoint buttons move to joint state-->
             <Decorator ID="ForceSuccess" _while="teleop_mode == 3">
               <Control ID="Sequence">
-                <Action
-                  ID="SwitchUIPrimaryView"
-                  primary_view_name="Visualization"
-                />
                 <Control ID="Fallback" name="root">
                   <Control ID="Sequence">
                     <Action
@@ -142,20 +130,12 @@
             </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"

src/lab_sim/objectives/add_waypoints_to_mtc_task.xml

@@ -1,7 +1,10 @@
-<?xml version="1.0" encoding="utf-8" ?>
 <root BTCPP_format="4" main_tree_to_execute="Add Waypoints to MTC Task">
   <!--//////////-->
-  <BehaviorTree ID="Add Waypoints to MTC Task">
+  <BehaviorTree
+    ID="Add Waypoints to MTC Task"
+    _subtreeOnly="true"
+    _description=""
+  >
     <Control ID="Sequence">
       <Action
         ID="RetrieveWaypoint"

src/lab_sim/objectives/create_pose_vector.xml

@@ -1,6 +1,11 @@
 <root BTCPP_format="4" main_tree_to_execute="Create Pose Vector">
   <!--//////////-->
-  <BehaviorTree ID="Create Pose Vector" _favorite="false">
+  <BehaviorTree
+    ID="Create Pose Vector"
+    _favorite="false"
+    _subtreeOnly="true"
+    _description=""
+  >
     <Control ID="Sequence">
       <Action
         ID="CreateStampedPose"

src/lab_sim/objectives/get_april_tag_pose_from_image.xml

@@ -1,6 +1,10 @@
 <root BTCPP_format="4" main_tree_to_execute="Get AprilTag Pose from Image">
   <!-- ////////// -->
-  <BehaviorTree ID="Get AprilTag Pose from Image">
+  <BehaviorTree
+    ID="Get AprilTag Pose from Image"
+    _subtreeOnly="true"
+    _description=""
+  >
     <Control ID="Sequence">
       <!--Get tag pose estimate in world frame-->
       <Action