add mode "benchmark"

rbs_bt_executor/launch/interface.launch.py

@@ -3,6 +3,7 @@
   ROS 2 launch program for Robossembler
 
   @shalenikol release 0.1
+  @shalenikol release 0.2 mode
 """
 import os
 import json
@@ -47,12 +48,15 @@ def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
     bt_path = LaunchConfiguration("bt_path")
     bt_path = bt_path.perform(context)
+    mode = LaunchConfiguration("mode")
+    mode = mode.perform(context)
 
     skills = get_skill_list_(bt_path)
 
     rbs_interface = Node(
         package="rbs_bt_executor",
         executable="rbs_interface.py",
+        parameters = [{"mode": mode},{"use_sim_time": True}]
         # parameters = [{"bt_path": bt_path}] # can be included as default path
     )
     nodes_to_start = [rbs_interface]
@@ -63,8 +67,15 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "bt_path",
-            default_value="''",
+            default_value="",
             description="path to Behavior tree instance"
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "mode",
+            default_value="",
+            description="Run mode of the interface node"
+        )
+    )
     return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])