Added initial batch of behaviors

toid_bt/launch/bt.launch.py

@@ -0,0 +1,41 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition
+from launch.substitutions import Command, LaunchConfiguration, IfElseSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+
+    pkg_share = FindPackageShare("").find('toid_bt')
+    bt_params = os.path.join(pkg_share, 'params', 'bt_params.yaml')
+
+    visualize = LaunchConfiguration("visualize")
+    visualize_arg = DeclareLaunchArgument(
+        'visualize',
+        default_value='False',
+        description="Whether to launch rviz2" 
+    )
+
+    use_mock = LaunchConfiguration("use_mock")
+    use_mock_arg = DeclareLaunchArgument(
+        'use_mock',
+        default_value='True',
+        description="Whether to use mock controller" 
+    )
+
+    bt_executor = Node(
+        package='toid_bt',
+        executable='toid_bt',
+        output='screen',
+        emulate_tty=True,
+        parameters=[bt_params],
+    )
+
+    return LaunchDescription([
+        visualize_arg,
+        use_mock_arg,
+        bt_executor,
+    ])
+