cnc-graver-assist/docs/to_start_BT_main.md

1. runtime CNC-Graver Assist

ros2 launch rbs_mill_assist simulation.launch.py

2. интерфейсная нода (bt_path: путь к skills.json)

ros2 launch rbs_bt_executor interface.launch.py bt_path:=/home/<user>/robossembler-ws/install/rbs_mill_assist/share/rbs_mill_assist/config/

3. BT

ros2 launch rbs_mill_assist bt_executor.launch.py

4. очередь

source ~/robossembler-ws/.venv/bin/activate
ros2 run rbs_mill_assist queue_srv.py

5. добавить задания в очередь (если их нет)

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}"

6. запуск дерева поведения

ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: Main}"