robossembler/runtime
7
0
Fork 0
Code Issues 4 Pull requests Projects Releases Packages Wiki Activity Actions

rbs_bt_executor: add new BT node EnvStarter

Browse source
This commit is contained in:
Ilya Uraev 2023-12-19 08:18:41 +03:00
parent 86fd3d1055
commit 6d3c5c2702
6 changed files with 73 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

5
rbs_bt_executor/launch/rbs_executor.launch.py
View file

@ -51,13 +51,14 @@ def generate_launch_description():
executable='bt_engine',
#prefix=['xterm -e gdb -ex run --args'],
parameters=[
{'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_executor'), 'bt_trees/test_gripper.xml')},
{'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_executor'), 'bt_trees/test_tree_env_manager.xml')},
{'plugins':["rbs_skill_move_topose_bt_action_client",
"rbs_skill_get_pick_place_pose_service_client",
"rbs_skill_gripper_move_bt_action_client",
"rbs_skill_move_joint_state",
"rbs_add_planning_scene_object",
"rbs_pose_estimation"
"rbs_pose_estimation",
"rbs_env_manager_starter"
]},
# gripperPoints,
robot_description_semantic