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improve parrameters passing to bt_engine

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This commit is contained in:
Ilya Uraev 2023-12-31 00:12:44 +03:00
parent c44bc1a654
commit 4dbf722c73
2 changed files with 7 additions and 23 deletions
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1
rbs_bt_executor/config/params.yaml
View file

@ -1,6 +1,5 @@
bt_engine: bt_engine:
ros__parameters: ros__parameters:
bt_file_path: "/home/bill-finger/rbs_ws/src/robossembler-ros2/rbs_bt_executor/bt_trees/test_tree.xml"
plugins: [ plugins: [
"rbs_skill_move_topose_bt_action_client", "rbs_skill_move_topose_bt_action_client",
"rbs_skill_get_pick_place_pose_service_client", "rbs_skill_get_pick_place_pose_service_client",

29
rbs_bt_executor/launch/rbs_executor.launch.py
View file

@ -1,10 +1,8 @@
from launch import LaunchDescription from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node from launch_ros.actions import Node
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare from launch_ros.substitutions import FindPackageShare
# from ament_index_python.packages import get_package_share_directory
# import os
def generate_launch_description(): def generate_launch_description():
@ -12,41 +10,28 @@ def generate_launch_description():
declared_arguments.append( declared_arguments.append(
DeclareLaunchArgument( DeclareLaunchArgument(
"bt_file", "bt_file",
default_value="test_tree_env_manager.xml", default_value="test_tree.xml",
description="BehaviorTree file for run.", description="BehaviorTree file for run.",
) )
) )
bt_file = LaunchConfiguration("bt_file") bt_file = LaunchConfiguration("bt_file")
robot_description_semantic_content = Command(
[
PathJoinSubstitution([FindExecutable(name="xacro")]),
" ",
PathJoinSubstitution(
[FindPackageShare("ur_moveit_config"), "srdf", "ur.srdf.xacro"]
),
" ",
"name:=",
"ur",
" ",
"prefix:=",
"",
" ",
]
)
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
btfile_description = PathJoinSubstitution( btfile_description = PathJoinSubstitution(
[FindPackageShare("rbs_bt_executor"), "bt_trees", bt_file] [FindPackageShare("rbs_bt_executor"), "bt_trees", bt_file]
) )
btfile_param = {"bt_file_path": btfile_description} btfile_param = {"bt_file_path": btfile_description}
bt_skills_param = PathJoinSubstitution([FindPackageShare("rbs_bt_executor"), "config", "params.yaml"])
nodes_to_start = [ nodes_to_start = [
Node( Node(
package='behavior_tree', package='behavior_tree',
executable='bt_engine', executable='bt_engine',
# prefix=['gdbserver localhost:3000'], # prefix=['gdbserver localhost:3000'],
parameters=["/home/bill-finger/rbs_ws/src/robossembler-ros2/rbs_bt_executor/config/params.yaml"] parameters=[
btfile_param,
bt_skills_param
]
) )
] ]