Closed sea-bass closed 1 year ago
Thanks for seeding this!
I've broken this PR into three separate PR's (see below), so closing this one out in favour of those.
Appreciate the cherry-picks, as now I don't have much to do but sit back, wait for the releases, and update my downstream repo when the time comes. Thanks!
No worries. I'm tracking the next ros-ecosystem release over in https://github.com/splintered-reality/py_trees_ros/issues/174#issuecomment-1368347644.
This PR aims to address my request in https://github.com/splintered-reality/py_trees_ros/issues/181.
Specifically, I added a few extra arguments to the
setup()
method ofpy_trees_ros.trees.BehaviourTree
:node
accepts an existingrclpy.node.Node
object so instead of always creating a new node, it can accept an existing one.node_name
accepts the name of the node, if one is still created bysetup()
.This makes it so that I can create a derived class from
Node
that internally creates a behavior tree, and it can declare parameters / get parameter values ahead of the setup stage.