Make main behavior tree configurable #47
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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
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Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Yadunund
requested changes
Jan 6, 2025
| @@ -132,6 +132,7 @@ def launch_setup(context, *args, **kwargs): | |||
| """{ | |||
| pick_and_place: [place_on_conveyor, pick_from_conveyor], | |||
| }""", | |||
| "main_bt_filename": "main.xml", | |||
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Please DeclareLaunchArgument and get the value via LaunchConfiguration instead of hardcoding here. That way, parent launch files like launch.py can overwrite the value if needed.
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Ah totally forgot, 99c0c69. It's not declared in the root launch.py but it is still passed to the control_center.launch.py, I can declare it in both places if it makes it clearer
Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
Yadunund
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Jan 6, 2025
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This PR makes the
mainbehavior tree configurable through a parameter since it was found in #42 that it is not generic enough that it can be used to execute different classes of work orders.Overview:
main_bt_filenamehas been introduced, which takes just the name of a behavior tree that is contained in thebt_pathparameter.bt_pathsystem orchestrator parameter now just points to the folder containing behavior trees.bt_pathandmain_bt_filename.main_bt_filenameparameter is editable and a parameter callback has been added. Trying to set it to a non existing file will fail and return an error to the user.