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Cartesian Move_to_pose Skill for BT Interface Node

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This commit is contained in:
Igor Brylev 2024-09-04 08:46:27 +00:00
parent bf965bb750
commit b4b452297d
18 changed files with 743 additions and 64 deletions
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36
rbs_bt_executor/launch/rbs_bt_web.launch.py
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@ -3,6 +3,7 @@
ROS 2 launch program for Robossembler
@shalenikol release 0.1
@shalenikol release 0.2 BT v.4
"""
import os
# import json
@ -13,35 +14,50 @@ from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventH
from launch.substitutions import LaunchConfiguration
from launch.event_handlers import OnExecutionComplete
FILE_BT = "bt.xml"
# FILE_BT = "bt.xml"
def launch_setup(context, *args, **kwargs):
# Initialize Arguments
bt_path = LaunchConfiguration("bt_path")
bt_path = bt_path.perform(context)
# rbs_bt = Node(
# package = "behavior_tree",
# executable = "bt_engine",
# parameters = [
# {"bt_file_path": os.path.join(bt_path, FILE_BT)},
# {"plugins": ["rbs_interface"]}
# ]
# )
rbs_bt = Node(
package = "behavior_tree",
executable = "bt_engine",
package = "rbs_bt_executor",
executable = "rbs_bt_executor",
parameters = [
{"bt_file_path": os.path.join(bt_path, FILE_BT)},
{"plugins": ["rbs_interface"]}
{
"plugins": ["rbs_bt_executor/bt_plugins"]
# "behavior_trees": [bt_path]
}
]
)
bt_exec = Node(
package="rbs_interface",
executable="bt_exec",
arguments=[bt_path]
# prefix=['gdbserver localhost:3000'],
)
bt_param = Node(
package="rbs_interface",
executable="bt_param.py",
parameters = [{"bt_path": bt_path}]
parameters=[{"bt_path": bt_path}]
)
# nodes_to_start = [rbs_bt]
# return nodes_to_start
# return [bt_param]
return [
RegisterEventHandler(
event_handler=OnExecutionComplete(
target_action=bt_param,
on_completion=[rbs_bt],
on_completion=[bt_exec],
# on_completion=[rbs_bt, bt_exec],
)
),
bt_param