bt-builder-plugins: Setting default BT builder plugin to SimpleBTBuil…

…der. Signed-off-by: Josh Zapf <jjzapf@gmail.com>
PlanSys2 · Sep 14, 2022 · 5aead81 · 5aead81
1 parent a74892d
commit 5aead81
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/plansys2_bringup/launch/plansys2_bringup_launch_distributed.py b/plansys2_bringup/launch/plansys2_bringup_launch_distributed.py
@@ -72,7 +72,7 @@ def generate_launch_description():
 
     declare_bt_builder_plugin_cmd = DeclareLaunchArgument(
         "bt_builder_plugin",
-        default_value="STNBTBuilder",
+        default_value="SimpleBTBuilder",
         description="Behavior tree builder plugin.",
     )
 

diff --git a/plansys2_bringup/launch/plansys2_bringup_launch_monolithic.py b/plansys2_bringup/launch/plansys2_bringup_launch_monolithic.py
@@ -72,7 +72,7 @@ def generate_launch_description():
 
     declare_bt_builder_plugin_cmd = DeclareLaunchArgument(
         "bt_builder_plugin",
-        default_value="STNBTBuilder",
+        default_value="SimpleBTBuilder",
         description="Behavior tree builder plugin.",
     )
 

diff --git a/plansys2_executor/launch/executor_launch.py b/plansys2_executor/launch/executor_launch.py
@@ -58,7 +58,7 @@ def generate_launch_description():
 
     declare_bt_builder_plugin_cmd = DeclareLaunchArgument(
         "bt_builder_plugin",
-        default_value="STNBTBuilder",
+        default_value="SimpleBTBuilder",
         description="Behavior tree builder plugin.",
     )
 

diff --git a/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp b/plansys2_executor/src/plansys2_executor/ExecutorNode.cpp
@@ -399,7 +399,7 @@ ExecutorNode::execute(const std::shared_ptr<GoalHandleExecutePlan> goal_handle)
 
   auto bt_builder_plugin = this->get_parameter("bt_builder_plugin").as_string();
   if (bt_builder_plugin.empty()) {
-    bt_builder_plugin = "STNBTBuilder";
+    bt_builder_plugin = "SimpleBTBuilder";
   }
 
   std::shared_ptr<plansys2::BTBuilder> bt_builder;