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run skill_movetopose via webservice

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shalenikol 2025-01-23 18:15:46 +03:00
parent 07607958c9
commit d7e51b71b4
3 changed files with 73 additions and 51 deletions
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5
rbs_bt_executor/launch/rbs_bt_web.launch.py
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@ -4,6 +4,7 @@
@shalenikol release 0.1
@shalenikol release 0.2 BT v.4
@shalenikol release 0.3 bt_path = os.path.dirname(bt_path)
"""
from launch import LaunchDescription
from launch_ros.actions import Node
@ -16,6 +17,10 @@ def launch_setup(context, *args, **kwargs):
bt_path = LaunchConfiguration("bt_path")
bt_path = bt_path.perform(context)
if bt_path[-4:] == ".xml":
import os
bt_path = os.path.dirname(bt_path)
# rbs_bt = Node(
# package = "rbs_bt_executor",
# executable = "rbs_bt_executor",