update bt_path param

rbs_bt_executor/launch/interface.launch.py

@@ -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:
+def get_skill_list(f: str) -> list:
-    f = os.path.join(path, FILE_SKILLS)
     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": skills_cfg_file},{"mode": mode},{"use_sim_time": True}]
-        # parameters = [{"bt_path": bt_path}] # can be included as default path
     )
     nodes_to_start = [rbs_interface]
     return nodes_to_start + skills

rbs_bt_executor/launch/rbs_bt_web.launch.py

@@ -1,25 +1,36 @@
 """
   rbs_bt_web
   ROS 2 launch program for Robossembler
+  ```bash
+  ros2 launch rbs_bt_executor rbs_bt_web.launch.py bt_path:=</path/to/bt.xml>
 
   @shalenikol release 0.1
   @shalenikol release 0.2 BT v.4
   @shalenikol release 0.3 bt_path = os.path.dirname(bt_path)
+  @shalenikol release 0.4 bt_path : either name of BT-file or path to default BT-file
 """
+import os
+
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
 from launch.substitutions import LaunchConfiguration
 from launch.event_handlers import OnExecutionComplete
 
+FILE_BT      = "bt.xml"
+FILE_SKILLS  = "skills.json"
+
 def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
     bt_path = LaunchConfiguration("bt_path")
     bt_path = bt_path.perform(context)
 
     if bt_path[-4:] == ".xml":
-        import os
+        bt_file = bt_path
-        bt_path = os.path.dirname(bt_path)
+        skills_file = os.path.join(os.path.dirname(bt_path), FILE_SKILLS)
+    else:
+        bt_file = os.path.join(bt_path, FILE_BT)
+        skills_file = os.path.join(bt_path, FILE_SKILLS)
 
     # rbs_bt = Node(
     #     package = "rbs_bt_executor",
@@ -35,14 +46,14 @@ def launch_setup(context, *args, **kwargs):
     bt_exec = Node(
         package="rbs_bt_executor",
         executable="bt_exec",
-        arguments=[bt_path]
+        arguments=[bt_file]
         # prefix=['gdbserver localhost:3000'],
     )
 
     bt_param = Node(
         package="rbs_bt_executor",
         executable="bt_param.py",
-        parameters=[{"bt_path": bt_path}]
+        parameters=[{"bt_path": skills_file}]
     )
     return [
             RegisterEventHandler(

rbs_bt_executor/scripts/rbs_interface.py

@@ -8,6 +8,7 @@
   @shalenikol release 0.3 synchronize
   @shalenikol release 0.4 mode:="benchmark"
   @shalenikol release 0.5 bt_path # included as default path (in __init__)
+  @shalenikol release 0.6 
 """
 import os
 import json
@@ -40,12 +41,14 @@ SERVER_NAME  = "rbs_interface_a"
 FILE_SKILLS  = "skills.json"
 PARAM_SUFFIX = "_cfg"
 KEY_BTPARAM  = "BTAction"
+KEY_SIDPATH  = "@path@" # prefix for filepath
 
 class rbsInterface(Node):
     def __init__(self, node_name):
         """Construct the node."""
         # self.bt_path = ""    # path to the current BehaviorTree
         # self._mode = ""      # run mode of the interface node
+        self.file_skills = FILE_SKILLS
         self.cfg_data = None # config for current action
         super().__init__(node_name)
         self.declare_parameter(BT_PARAM, rclpy.Parameter.Type.STRING)
@@ -62,7 +65,7 @@ class rbsInterface(Node):
         # self.client = AsyncParameterClient(self.client_node, 'test_parameter_client_target') # only Iron
         self.add_on_set_parameters_callback(self._on_set_btpath_param)
 
-    def get_transfer_path(self):
+    def get_skillcfg_file(self):
         if self.bt_path:
             return self.bt_path
         return os.path.join(get_package_share_directory("rbs_bt_executor"), "config")
@@ -119,9 +122,12 @@ class rbsInterface(Node):
         assert False, f"Error: sid not valid '{sid}'"
 
     def _load_config(self, sid: str):
-        p = os.path.join(self.get_transfer_path(), FILE_SKILLS) # action+".json")
+        if sid.startswith(KEY_SIDPATH):
+            p = sid[len(KEY_SIDPATH):]
+        else:
+            p = self.get_skillcfg_file() #os.path.join(self.get_transfer_path(), self.file_skills)
         # load config
-        return self._deserialize(p,sid)
+        return self._deserialize(p, sid)
     
     def run_action(self, command_data: dict) -> bool:
         p_list = command_data["param"]

rbs_bt_executor/src/BTExec.cpp

@@ -14,7 +14,7 @@
 #define NODE_NAME    "rbs_interface"
 #define SERVICE_NAME "rbs_interface_s"
 #define SERVER_NAME  "rbs_interface_a"
-#define FILE_BT      "bt.xml"
+// #define FILE_BT      "bt.xml"
 
 template<typename T> std::string to_string(const T &t)
 {
@@ -161,7 +161,7 @@ private:
 int main(int argc, char** argv)
 {
     // filename Behavior Tree
-    std::string bt = std::string(argv[1]) + "/" FILE_BT;
+    std::string bt = std::string(argv[1]); // + "/" FILE_BT
     std::ifstream fh(bt, std::ios::in);
     // reading xml
     std::string xml{std::istreambuf_iterator<char>(fh), std::istreambuf_iterator<char>()};