Refactor simulated scenes

2021-09-07 22:29:42 +02:00
parent ce804cf273
commit fa4b0f07ad
6 changed files with 104 additions and 58 deletions
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -21,8 +21,9 @@ from robot_helpers.ros.conversions import *

 class BtSimNode:
    def __init__(self):
-        self.gui = rospy.get_param("~gui", True)
-        self.sim = Simulation(gui=self.gui)
+        gui = rospy.get_param("~gui")
+        scene_id = rospy.get_param("~scene")
+        self.sim = Simulation(gui=gui, scene_id=scene_id)
        self.init_plugins()
        self.advertise_services()