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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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14
rbs_perception/launch/perception.launch.py
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@ -1,29 +1,15 @@
import os
from launch_ros.actions import Node
from ur_moveit_config.launch_common import load_yaml
from launch import LaunchDescription
def generate_launch_description():
declared_arguments = []
points_params = load_yaml("rbs_bt_executor", "config/gripperPositions.yaml")
grasp_pose_loader = Node(
package="rbs_skill_servers",
executable="pick_place_pose_loader_service_server",
output="screen",
emulate_tty=True,
parameters=[
points_params
]
)
pose_estimation = Node(
package="rbs_perception",
executable="pose_estimation_lifecycle.py",
)
nodes_to_start = [
grasp_pose_loader,
pose_estimation
]
return LaunchDescription(declared_arguments + nodes_to_start)