25 lines
893 B
Markdown
25 lines
893 B
Markdown
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1) runtime CNC-Graver Assist
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```sh
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ros2 launch rbs_mill_assist simulation.launch.py
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```
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2) интерфейсная нода (bt_path: путь к skills.json)
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```sh
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ros2 launch rbs_bt_executor interface.launch.py bt_path:=/home/<user>/robossembler-ws/install/rbs_mill_assist/share/rbs_mill_assist/config/
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```
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3) BT
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```sh
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ros2 launch rbs_mill_assist bt_executor.launch.py
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```
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4) очередь
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```sh
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source ~/robossembler-ws/.venv/bin/activate
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ros2 run rbs_mill_assist queue_srv.py
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```
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5) добавить задания в очередь (если их нет)
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```sh
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ros2 service call queue/add_tasks rbs_utils_interfaces/srv/AddTasks "{tasks_csv: /home/<user>/robossembler-ws/src/robossembler-cnc-graver-assist/docs/tasks.csv}"
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```
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6) запуск дерева поведения
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```sh
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ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: Main}"
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```
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