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