Update task composer examples to leverage resource url

Author: Levi-Armstrong

tesseract_task_composer/examples/task_composer_example.cpp

@@ -124,10 +124,10 @@ int main()
   task_composer.addEdges(task1_id, { task2_id });
   task_composer.addEdges(task2_id, { task3_id });
 
-  const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
   tesseract_common::GeneralResourceLocator locator;
-  tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path, locator);
+  auto resource = locator.locateResource("package://tesseract_task_composer/config/task_composer_plugins.yaml");
+  tesseract_common::fs::path config_path(resource->getFilePath());
+  TaskComposerPluginFactory factory(config_path, *resource);
 
   auto task_executor = factory.createTaskComposerExecutor("TaskflowExecutor");
   TaskComposerFuture::UPtr future = task_executor->run(task_composer, std::move(task_data));

tesseract_task_composer/examples/task_composer_raster_example.cpp

@@ -50,9 +50,9 @@ int main()
       plotter->plotEnvironment(*env);
   }
   // Get plugin factory
-  const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
-  tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path, *locator);
+  auto resource = locator->locateResource("package://tesseract_task_composer/config/task_composer_plugins.yaml");
+  tesseract_common::fs::path config_path(resource->getFilePath());
+  TaskComposerPluginFactory factory(config_path, *resource);
 
   // Create raster task
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("RasterFtPipeline");

tesseract_task_composer/examples/task_composer_trajopt_example.cpp

@@ -51,9 +51,9 @@ int main()
       plotter->plotEnvironment(*env);
   }
   // Get plugin factory
-  const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
-  tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
-  TaskComposerPluginFactory factory(config_path, *locator);
+  auto resource = locator->locateResource("package://tesseract_task_composer/config/task_composer_plugins.yaml");
+  tesseract_common::fs::path config_path(resource->getFilePath());
+  TaskComposerPluginFactory factory(config_path, *resource);
 
   // Create trajopt pipeline
   TaskComposerNode::UPtr task = factory.createTaskComposerNode("TrajOptPipeline");