small fixes

Signed-off-by: Paul Gesel <paul.gesel@picknik.ai>

Author: pac48

src/hangar_sim/config/config.yaml

@@ -93,10 +93,10 @@ ros2_control:
   controllers_active_at_startup:
     - "force_torque_sensor_broadcaster"
     - "joint_state_broadcaster"
-    - "servo_controller"
-    - "platform_velocity_controller_nav2"
+    - "joint_trajectory_controller"
+    - "platform_velocity_controller"
     - "vacuum_gripper"
   # Load but do not start these controllers so they can be activated later if needed.
   controllers_inactive_at_startup:
-    - "joint_trajectory_controller"
-    - "platform_velocity_controller"
+    - "servo_controller"
+    - "platform_velocity_controller_nav2"

src/hangar_sim/objectives/bring_it.xml

@@ -1,61 +1,25 @@
-<?xml version="1.0" encoding="utf-8" ?>
+<?xml version='1.0' encoding='utf-8'?>
 <root BTCPP_format="4" main_tree_to_execute="Bring It">
   <!--//////////-->
-  <BehaviorTree
-    ID="Bring It"
-    _description="Bring beer to table"
-    _favorite="true"
-  >
+  <BehaviorTree ID="Bring It" _description="Bring beer to table" _favorite="true">
     <Control ID="Sequence">
-      <Action
-        ID="CreateStampedPose"
-        reference_frame="world"
-        stamped_pose="{place_pose}"
-        orientation_xyzw="0;1.0;0;0"
-        position_xyz="-4.5;8.4;0.5"
-      />
+      <Action ID="CreateStampedPose" reference_frame="world" stamped_pose="{place_pose}" orientation_xyzw="0;1.0;0;0" position_xyz="-4.5;8.4;0.5"/>
       <Decorator ID="RetryUntilSuccessful" num_attempts="1000">
         <Decorator ID="ForceFailure">
           <Control ID="Sequence">
             <Control ID="Fallback">
-              <SubTree
-                ID="Bring It start from waypoint"
-                waypoint_name="View Boxes"
-                _collapsed="true"
-                threshold="0.25"
-                prompt="a small brown box"
-                negative_prompts="yellow ladder;"
-                prompts="small boxes"
-                place_pose="{place_pose}"
-                erosion_size="10"
-              />
-              <SubTree
-                ID="Bring It start from waypoint"
-                waypoint_name="View Boxes 2"
-                place_pose="{place_pose}"
-                threshold="0.4"
-                _collapsed="true"
-                prompts="small boxes"
-                negative_prompts="gray;gray;rails"
-                erosion_size="2"
-              />
+              <SubTree ID="Bring It start from waypoint" waypoint_name="View Boxes" _collapsed="true" threshold="0.25" prompt="a small brown box" negative_prompts="yellow ladder;" prompts="small boxes" place_pose="{place_pose}" erosion_size="10"/>
+              <SubTree ID="Bring It start from waypoint" waypoint_name="View Boxes 2" place_pose="{place_pose}" threshold="0.4" _collapsed="true" prompts="small boxes" negative_prompts="gray;gray;rails" erosion_size="2"/>
             </Control>
-            <Action
-              ID="TransformPose"
-              input_pose="{place_pose}"
-              output_pose="{place_pose}"
-              translation_xyz="0.4;0;0"
-            />
+            <Action ID="TransformPose" input_pose="{place_pose}" output_pose="{place_pose}" translation_xyz="0.4;0;0"/>
           </Control>
         </Decorator>
       </Decorator>
     </Control>
   </BehaviorTree>
   <TreeNodesModel>
-    <SubTree ID="Bring It">
-      <MetadataFields>
-        <Metadata runnable="true" />
-      </MetadataFields>
-    </SubTree>
+    <SubTree ID="Bring It"><MetadataFields>
+        <Metadata runnable="true"/>
+      </MetadataFields></SubTree>
   </TreeNodesModel>
 </root>