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add workspace inspector skill

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This commit is contained in:
Ilya Uraev 2023-12-30 23:42:10 +03:00
parent 4f0c43bee9
commit 9efab819af
9 changed files with 158 additions and 85 deletions
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16
rbs_bt_executor/launch/rbs_executor.launch.py
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@ -49,19 +49,7 @@ def generate_launch_description():
Node(
package='behavior_tree',
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_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_env_manager_starter"
]},
# gripperPoints,
robot_description_semantic
]
# prefix=['gdbserver localhost:3000'],
parameters=["/home/bill-finger/rbs_ws/src/robossembler-ros2/rbs_bt_executor/config/params.yaml"]
)
])