| 48 | } |
| 49 | |
| 50 | std::string GetDirectoryPath(const std::string& parameter_value) |
| 51 | { |
| 52 | std::string package_name, subfolder; |
| 53 | auto pos = parameter_value.find_first_of("/"); |
| 54 | if(pos == parameter_value.size()) |
| 55 | { |
| 56 | RCLCPP_ERROR(kLogger, "Invalid Parameter: %s. Missing subfolder delimiter '/'.", |
| 57 | parameter_value.c_str()); |
| 58 | return ""; |
| 59 | } |
| 60 | |
| 61 | package_name = std::string(parameter_value.begin(), parameter_value.begin() + pos); |
| 62 | subfolder = std::string(parameter_value.begin() + pos + 1, parameter_value.end()); |
| 63 | try |
| 64 | { |
| 65 | std::string search_directory = |
| 66 | ament_index_cpp::get_package_share_directory(package_name) + "/" + subfolder; |
| 67 | RCLCPP_DEBUG(kLogger, "Searching for Plugins/BehaviorTrees in path: %s", |
| 68 | search_directory.c_str()); |
| 69 | return search_directory; |
| 70 | } |
| 71 | catch(const std::exception& e) |
| 72 | { |
| 73 | RCLCPP_ERROR(kLogger, "Failed to find package: %s \n %s", package_name.c_str(), |
| 74 | e.what()); |
| 75 | } |
| 76 | return ""; |
| 77 | } |
| 78 | |
| 79 | void LoadBehaviorTrees(BT::BehaviorTreeFactory& factory, |
| 80 | const std::string& directory_path) |
no outgoing calls
no test coverage detected