#!/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