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rbs_executor with bt_file (param)

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This commit is contained in:
shalenikol 2023-12-29 22:55:27 +03:00
parent d1bddab437
commit a5f3f6bc2e
7 changed files with 94 additions and 106 deletions
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47
rbs_bt_executor/launch/rbs_executor.launch.py
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@ -1,29 +1,22 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory
import os
import yaml
import math
from rbs_launch_utils.launch_common import load_yaml
# from ament_index_python.packages import get_package_share_directory
# import os
def generate_launch_description():
# bt_config = os.path.join(
# get_package_share_directory('rbs_bt_executor'),
# 'config',
# 'params.yaml'
# )
# points = load_yaml(
# package_name="rbs_bt_executor",
# file_path="config/points.yaml"
# )
gripperPoints = load_yaml(
package_name="rbs_bt_executor",
file_path="config/gripperPositions.yaml")
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"bt_file",
default_value="test_tree_env_manager.xml",
description="BehaviorTree file for run.",
)
)
bt_file = LaunchConfiguration("bt_file")
robot_description_semantic_content = Command(
[
@ -42,16 +35,20 @@ def generate_launch_description():
]
)
robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
return LaunchDescription([
btfile_description = PathJoinSubstitution(
[FindPackageShare("rbs_bt_executor"), "bt_trees", bt_file]
)
btfile_param = {"bt_file_path": btfile_description}
nodes_to_start = [
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')},
btfile_param,
#{'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_executor'), 'bt_trees/' + bt_file)},
{'plugins':["rbs_skill_move_topose_bt_action_client",
"rbs_skill_get_pick_place_pose_service_client",
"rbs_skill_gripper_move_bt_action_client",
@ -64,4 +61,6 @@ def generate_launch_description():
robot_description_semantic
]
)
])
]
return LaunchDescription(declared_arguments + nodes_to_start)