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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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3
rbs_interface/launch/interface.launch.py
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@ -29,6 +29,7 @@ def get_skill_list_(path: str) -> list:
excluding = {}
skills = []
for skill in data["skills"]:
node_name = skill["Module"]["node_name"]
launch = skill["Launch"]
p = launch["package"]
e = launch["executable"]
@ -37,7 +38,7 @@ def get_skill_list_(path: str) -> list:
continue
nn_skills += 1
# skills.append(Node(package=p, executable=e))
launch["parameters"] = [{launch["name"]+PARAM_SUFFIX: json.dumps(skill)}]
launch["parameters"] = [{node_name+PARAM_SUFFIX: json.dumps(skill)}]
skills.append(Node(**launch))
return skills