robossembler/runtime
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update bt_path param

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This commit is contained in:
shalenikol 2025-05-16 11:15:29 +03:00
parent c4cb3f2141
commit ac265f74a3
4 changed files with 34 additions and 16 deletions
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15
rbs_bt_executor/launch/interface.launch.py
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@ -1,10 +1,13 @@
"""
Launching interface node with connecting skills
ROS 2 launch program for Robossembler
```bash
ros2 launch rbs_bt_executor bt_path:=</path/to/skills_json> mode:=benchmark
@shalenikol release 0.1
@shalenikol release 0.2 mode
@shalenikol release 0.3 {"bt_path": bt_path} # included as default path
@shalenikol release 0.4 bt_path : either name of skills config file or path to default skills config file
"""
import os
import json
@ -17,15 +20,12 @@ 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)
def get_skill_list(f: str) -> list:
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 = {}
@ -49,16 +49,17 @@ def launch_setup(context, *args, **kwargs):
# Initialize Arguments
bt_path = LaunchConfiguration("bt_path")
bt_path = bt_path.perform(context)
skills_cfg_file = bt_path if bt_path.endswith(".json") else os.path.join(bt_path, FILE_SKILLS)
mode = LaunchConfiguration("mode")
mode = mode.perform(context)
skills = get_skill_list_(bt_path)
skills = get_skill_list(skills_cfg_file)
rbs_interface = Node(
package="rbs_bt_executor",
executable="rbs_interface.py",
parameters = [{"bt_path": bt_path},{"mode": mode},{"use_sim_time": True}]
# parameters = [{"bt_path": bt_path}] # can be included as default path
parameters = [{"bt_path": skills_cfg_file},{"mode": mode},{"use_sim_time": True}]
)
nodes_to_start = [rbs_interface]
return nodes_to_start + skills