Migration to BT.cpp v4 & new BT executor

rbs_bt_executor/launch/rbs_executor.launch.py

@@ -6,38 +6,18 @@ from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
 
-    declared_arguments = []
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            "bt_file",
-            default_value="test_tree.xml",
-            description="BehaviorTree file for run.",
-        )
-    )
-    bt_file = LaunchConfiguration("bt_file")
-
-
-    btfile_description = PathJoinSubstitution(
-        [FindPackageShare("rbs_bt_executor"), "bt_trees", bt_file]
-    )
-    btfile_param = {"bt_file_path": btfile_description}
-    bt_skills_param = PathJoinSubstitution([FindPackageShare("rbs_bt_executor"), "config", "params.yaml"])
+    executor_params = PathJoinSubstitution([FindPackageShare("rbs_bt_executor"), "config", "bt_executor.yaml"])
 
     nodes_to_start = [
         Node(
-            package='behavior_tree',
-            executable='bt_engine',
+            package='rbs_bt_executor',
+            executable='rbs_bt_executor',
             # prefix=['gdbserver localhost:1234'],
             parameters=[
-                btfile_param,
-                bt_skills_param,
+                executor_params,
                 {'use_sim_time': True}
             ],
-            # arguments=[
-            #     "--ros-args",
-            #     "--log-level", "debug",
-            # ],
         )
     ]
 
-    return LaunchDescription(declared_arguments + nodes_to_start)
+    return LaunchDescription(nodes_to_start)