59 lines
1.6 KiB
Python
59 lines
1.6 KiB
Python
"""
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rbs_bt_web
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ROS 2 launch program for Robossembler
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@shalenikol release 0.1
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"""
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import os
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# import json
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
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from launch.substitutions import LaunchConfiguration
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from launch.event_handlers import OnExecutionComplete
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FILE_BT = "bt.xml"
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def launch_setup(context, *args, **kwargs):
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# Initialize Arguments
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bt_path = LaunchConfiguration("bt_path")
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bt_path = bt_path.perform(context)
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rbs_bt = Node(
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package = "behavior_tree",
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executable = "bt_engine",
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parameters = [
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{"bt_file_path": os.path.join(bt_path, FILE_BT)},
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{"plugins": ["rbs_interface"]}
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]
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)
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bt_param = Node(
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package="rbs_interface",
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executable="bt_param.py",
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parameters = [{"bt_path": bt_path}]
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)
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# nodes_to_start = [rbs_bt]
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# return nodes_to_start
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# return [bt_param]
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return [
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RegisterEventHandler(
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event_handler=OnExecutionComplete(
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target_action=bt_param,
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on_completion=[rbs_bt],
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)
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),
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bt_param
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] # the order of elements is strictly required
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def generate_launch_description():
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declared_arguments = []
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declared_arguments.append(
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DeclareLaunchArgument(
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"bt_path",
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default_value="''",
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description="path to Behavior tree instance"
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)
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)
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return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
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