Migrate to Gazebo Fortress

rbs_bt_executor/launch/rbs_executor.launch.py

@@ -0,0 +1,35 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory 
+import os
+
+
+def generate_launch_description():
+
+    bt_config = os.path.join(
+        get_package_share_directory('rbs_bt_executor'),
+        'config',
+        'params.yaml'
+    )
+    points = os.path.join(
+        get_package_share_directory('rbs_bt_executor'),
+        'config',
+        'points.yaml'
+    )
+
+
+    return LaunchDescription([
+        Node(
+            package='behavior_tree',
+            namespace='',
+            executable='bt_engine',
+            name="bt_engine",
+            # Do not declare a node name otherwise it messes with the action node names and will result in
+            # duplicate nodes!
+            parameters=[
+                {'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_queue'), 'bt_xmls/test_tree.xml')},
+                {'plugins': ['rbs_skill_move_topose_bt_action_client']},
+                points
+            ]
+        ),
+    ])