Behavior tree glue code

2026-04-15 21:18:49 +02:00
parent 0a7d8525a0
commit d0ffceebe1
5 changed files with 156 additions and 21 deletions
--- a/toid_interaction/toid_interaction/interaction_node.py
+++ b/toid_interaction/toid_interaction/interaction_node.py
@@ -107,7 +107,9 @@ def main(args=None):
    rclpy.init(args=args)

    node = InteracitionNode()
-    rclpy.executors.MultiThreadedExecutor().spin(node)
+    executor = rclpy.executors.MultiThreadedExecutor()
+    executor.add_node(node)
+    executor.spin()
    rclpy.shutdown()