实现行为树执行器、任务协调和技能接口

2026-09-20 12:18:52 +08:00
commit 492676344a
143 changed files with 13010 additions and 0 deletions
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+"""Explicit deployment identity/site/journal; motion disabled unless opted in."""
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    names = [DeclareLaunchArgument('namespace'), DeclareLaunchArgument('robot_id'),
+             DeclareLaunchArgument('site_config_file'), DeclareLaunchArgument('journal_directory'),
+             DeclareLaunchArgument('execution_enabled', default_value='false')]
+    return LaunchDescription(names + [Node(
+        package='bt_executor', executable='bt_executor_node', output='screen',
+        namespace=LaunchConfiguration('namespace'), parameters=[{
+            'robot_id': LaunchConfiguration('robot_id'),
+            'allowed_robots': [[LaunchConfiguration('robot_id')]],
+            'site_config_file': LaunchConfiguration('site_config_file'),
+            'journal_directory': LaunchConfiguration('journal_directory'),
+            'execution_enabled': ParameterValue(LaunchConfiguration('execution_enabled'), value_type=bool),
+        }])])