Added new robot descriptions for Robotoid

mg_bringup/launch/bt.launch.py

@@ -0,0 +1,29 @@
+################################################################################
+#                                                                              #
+#  Launch file meant to be used on the robot itself                            #
+#      uses:                                                                   #
+#         * mg_bt         - runs the robot's behavior tree server              #
+#                                                                              #
+################################################################################
+
+from launch import LaunchDescription
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_bt")
+
+    bt_exec_config = PathJoinSubstitution([basedir, "config/mg_bt_executor.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_bt',
+            executable='mg_bt_executor',
+            output="screen",
+            parameters=[bt_exec_config]
+        ),
+    ])
+