36 lines
1.1 KiB
Markdown
36 lines
1.1 KiB
Markdown
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### Usage
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change `rbs_simulation.laucnh.py` file by providing `${PATH}` and `${PREFIX}` to assemble files
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```python
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assemble_state = Node(
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package="rbs_skill_servers",
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executable="assemble_state_service_server",
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output="screen",
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emulate_tty=True,
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parameters=[
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{"assemble_prefix": "ASSEMBLE_"} # ${PREFIX}
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{"assemble_package_dir": ${COLCON_WS}/src/robossembler-ros2/rbs_task_planner/exemples/sdf_models}, # ${PATH}
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]
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)
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```
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launch simulation proccess
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```bash
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ros2 launch rbs_simulation rbs_simulation.launch.py
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```
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launch task_planner process
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```bash
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ros2 launch rbs_task_planner task_planner.launch.py
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```
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start env_manager process
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```bash
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./${COLCON_WS}/build/env_manager/main
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```
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you can send `problem` throw plansys2 service with `${PROBLEM_FILE_CONTENT}`
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```bash
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ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: ${PROBLEM_FILE_CONTENT}}'
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```
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or you can use `plansys2_terminal`
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```bash
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ros2 run plansys2_terminal plansys2_terminal
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```
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after that use `plansys2_terminal` to call `run` command and start executing process
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