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update interface node: to start BT with rbss-nodes

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shalenikol 2025-04-11 19:41:08 +03:00
parent 698f8734ac
commit 9d0098a115
2 changed files with 5 additions and 2 deletions
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4
rbs_bt_executor/scripts/rbs_interface.py
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@ -7,6 +7,7 @@
@shalenikol release 0.2 BT v.4
@shalenikol release 0.3 synchronize
@shalenikol release 0.4 mode:="benchmark"
@shalenikol release 0.5 bt_path # included as default path (in __init__)
"""
import os
import json
@ -43,13 +44,14 @@ KEY_BTPARAM = "BTAction"
class rbsInterface(Node):
def __init__(self, node_name):
"""Construct the node."""
self.bt_path = "" # path to the current BehaviorTree
# self.bt_path = "" # path to the current BehaviorTree
# self._mode = "" # run mode of the interface node
self.cfg_data = None # config for current action
super().__init__(node_name)
self.declare_parameter(BT_PARAM, rclpy.Parameter.Type.STRING)
self.declare_parameter(MODE_PARAM, rclpy.Parameter.Type.STRING)
self._mode = self.get_parameter(MODE_PARAM).get_parameter_value().string_value
self.bt_path = self.get_parameter(BT_PARAM).get_parameter_value().string_value
self.cb_group = ReentrantCallbackGroup()
# for Condition