From 457307a6567d9314a96ce5c76f7da019c05b62fe Mon Sep 17 00:00:00 2001
From: pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 5 Jan 2026 00:33:51 +0100
Subject: [PATCH] Added convinence scripts for running base/behavior tree

---
 scripts/run_base.sh |  9 +++++++++
 scripts/run_bt.sh   | 19 +++++++++++++++++++
 2 files changed, 28 insertions(+)
 create mode 100755 scripts/run_base.sh
 create mode 100755 scripts/run_bt.sh

diff --git a/scripts/run_base.sh b/scripts/run_base.sh
new file mode 100755
index 0000000..68bcab7
--- /dev/null
+++ b/scripts/run_base.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+ros_distro="jazzy"
+script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source ./install/setup.bash
+
+ros2 launch mg_bringup base.launch.py $@
\ No newline at end of file
diff --git a/scripts/run_bt.sh b/scripts/run_bt.sh
new file mode 100755
index 0000000..9481b4c
--- /dev/null
+++ b/scripts/run_bt.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+
+ros_distro="jazzy"
+script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
+pids=()
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source "./install/setup.bash"
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+ros2 launch mg_bringup bt.launch.py & pids+=($!)
+
+sleep 1
+
+ros2 action send_goal /mg_bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "target_tree: $1" & pids+=($!)
+
+wait