united rbs_interface with rbs_bt_executor

rbs_bt_executor/launch/interface.launch.py

@@ -0,0 +1,70 @@
+"""
+  Launching interface node with connecting skills
+  ROS 2 launch program for Robossembler
+
+  @shalenikol release 0.1
+"""
+import os
+import json
+
+from launch_ros.actions import Node
+from launch.actions import (DeclareLaunchArgument, OpaqueFunction)
+from launch.substitutions import LaunchConfiguration
+from launch import LaunchDescription
+
+FILE_SKILLS  = "skills.json"
+PARAM_SUFFIX = "_cfg"
+
+def get_skill_list_(path: str) -> list:
+    f = os.path.join(path, FILE_SKILLS)
+    if not os.path.isfile(f):
+        return []
+
+    with open(f, "r") as fh:
+        data = json.load(fh)
+    #     str_data = fh.read()
+    # data = json.loads(str_data)
+
+    nn_skills = 0
+    excluding = {}
+    skills = []
+    for skill in data["skills"]:
+        node_name = skill["Module"]["node_name"]
+        launch = skill["Launch"]
+        p = launch["package"]
+        e = launch["executable"]
+        excluding[p+e] = None # unique key
+        if len(excluding) == nn_skills:
+            continue
+        nn_skills += 1
+        # skills.append(Node(package=p, executable=e))
+        launch["parameters"] = [{node_name+PARAM_SUFFIX: json.dumps(skill)}]
+        skills.append(Node(**launch))
+
+    return skills
+
+def launch_setup(context, *args, **kwargs):
+    # Initialize Arguments
+    bt_path = LaunchConfiguration("bt_path")
+    bt_path = bt_path.perform(context)
+
+    skills = get_skill_list_(bt_path)
+
+    rbs_interface = Node(
+        package="rbs_bt_executor",
+        executable="rbs_interface.py",
+        # parameters = [{"bt_path": bt_path}] # can be included as default path
+    )
+    nodes_to_start = [rbs_interface]
+    return nodes_to_start + skills
+
+def generate_launch_description():
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "bt_path",
+            default_value="''",
+            description="path to Behavior tree instance"
+        )
+    )
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])