How to add new primitives

The RAS provides an easier way to add new primitives to the existing primitives. For that, you need to follow the below steps:

1. Open the file ros2_ws/src/ras_bt_framework/config/primitive_declaration.yaml and add the new primitive to the existing primitives list as shown below:

primitives:
    primitive_name:
        type: primitive_type
      input_ports:
          name: type
      output_ports:
          name: type

# Example

primitives:
  move2joints:
    type: trajectory
    input_ports:
      joints: b
    output_ports:
      status: bool

2. Now, run the command

ros2 run ras_bt_framework generate_primitives.py

# output

This will generate the new primitive file in the ros2_ws/src/ras_bt_framework/generated_files directory.

3. Now, you can use the new primitive template and modify the primitive as per your required behavior.

4. Once you are done with the modification, you can run the command