Remove duplicated behavior trees and use remapping

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

Author: luca-della-vedova

nexus_integration_tests/config/pick_and_place_rmf.json

@@ -113,6 +113,7 @@ def launch_setup(context, *args, **kwargs):
     activate_system_orchestrator = LaunchConfiguration("activate_system_orchestrator")
     headless = LaunchConfiguration("headless")
     main_bt_filename = LaunchConfiguration("main_bt_filename")
+    remap_task_types = LaunchConfiguration("remap_task_types")
 
     nexus_panel_rviz_path = os.path.join(
         get_package_share_directory("nexus_integration_tests"), "rviz", "nexus_panel.rviz"
@@ -129,11 +130,7 @@ def launch_setup(context, *args, **kwargs):
                     FindPackageShare("nexus_integration_tests"),
                     "/config/system_bts",
                 ),
-                "remap_task_types":
-                    """{
-                        pick_and_place: [place_on_conveyor, pick_from_conveyor],
-                        pick_and_place_rmf: [place_on_amr, pick_from_amr],
-                    }""",
+                "remap_task_types": remap_task_types,
                 "main_bt_filename": main_bt_filename,
                 "max_jobs": 2,
             }
@@ -251,6 +248,11 @@ def generate_launch_description():
                 default_value="main.xml",
                 description="File name of the main system orchestrator behavior tree",
             ),
+            DeclareLaunchArgument(
+                "remap_task_types",
+                default_value="\"pick_and_place: [place_on_conveyor, pick_from_conveyor]\"",
+                description="File name of the main system orchestrator behavior tree",
+            ),
             OpaqueFunction(function=launch_setup),
         ]
     )

nexus_integration_tests/config/workcell_1_bts/place_on_amr.xml

@@ -40,7 +40,15 @@ async def asyncSetUp(self):
         subprocess.Popen('pkill -9 -f zenoh', shell=True)
 
         self.proc = managed_process(
-            ("ros2", "launch", "nexus_integration_tests", "depot.launch.xml", "sim_update_rate:=10000", "main_bt_filename:=main_rmf.xml"),
+                (
+                     "ros2",
+                     "launch",
+                     "nexus_integration_tests",
+                     "depot.launch.xml",
+                     "sim_update_rate:=10000",
+                     "main_bt_filename:=main_rmf.xml",
+                     "remap_task_types:=\"pick_and_place_rmf: [pick_from_conveyor, place_on_conveyor]\""
+                 ),
         )
         self.proc.__enter__()
         print("waiting for nodes to be ready...", file=sys.stderr)
@@ -69,7 +77,7 @@ def tearDown(self):
     async def test_pick_and_place_wo(self):
         self.action_client.wait_for_server()
         goal_msg = ExecuteWorkOrder.Goal()
-        with open(f"{os.path.dirname(__file__)}/config/pick_and_place_rmf.json") as f:
+        with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
             goal_msg.order.work_order = f.read()
         feedbacks: list[ExecuteWorkOrder.Feedback] = []
         fb_fut = Future()