75 lines
2.1 KiB
Python
75 lines
2.1 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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@shalenikol release 0.2 BT v.4
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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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rbs_bt = Node(
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package = "rbs_bt_executor",
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executable = "rbs_bt_executor",
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parameters = [
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{
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"plugins": ["rbs_bt_executor/bt_plugins"]
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# "behavior_trees": [bt_path]
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}
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]
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)
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bt_exec = Node(
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package="rbs_interface",
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executable="bt_exec",
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arguments=[bt_path]
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# prefix=['gdbserver localhost:3000'],
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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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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=[bt_exec],
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# on_completion=[rbs_bt, bt_exec],
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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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