From 99c0c6902004dbbc1bae4cd347cd43b93de41069 Mon Sep 17 00:00:00 2001 From: Luca Della Vedova Date: Mon, 6 Jan 2025 12:23:04 +0800 Subject: [PATCH] Make main_bt_filename a launch parameter Signed-off-by: Luca Della Vedova --- nexus_integration_tests/launch/control_center.launch.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/nexus_integration_tests/launch/control_center.launch.py b/nexus_integration_tests/launch/control_center.launch.py index 779e32f..e9f62d2 100644 --- a/nexus_integration_tests/launch/control_center.launch.py +++ b/nexus_integration_tests/launch/control_center.launch.py @@ -112,6 +112,7 @@ def launch_setup(context, *args, **kwargs): transporter_plugin = LaunchConfiguration("transporter_plugin") activate_system_orchestrator = LaunchConfiguration("activate_system_orchestrator") headless = LaunchConfiguration("headless") + main_bt_filename = LaunchConfiguration("main_bt_filename") nexus_panel_rviz_path = os.path.join( get_package_share_directory("nexus_integration_tests"), "rviz", "nexus_panel.rviz" @@ -132,7 +133,7 @@ def launch_setup(context, *args, **kwargs): """{ pick_and_place: [place_on_conveyor, pick_from_conveyor], }""", - "main_bt_filename": "main.xml", + "main_bt_filename": main_bt_filename, "max_jobs": 2, } ], @@ -244,6 +245,11 @@ def generate_launch_description(): default_value="true", description="Launch in headless mode (no gui)", ), + DeclareLaunchArgument( + "main_bt_filename", + default_value="main.xml", + description="File name of the main system orchestrator behavior tree", + ), OpaqueFunction(function=launch_setup), ] )