Migrate plansys2_bt_actions to BehaviorTree.ROS2 wrappers#304
Migrate plansys2_bt_actions to BehaviorTree.ROS2 wrappers#304robodrome wants to merge 10 commits into
plansys2_bt_actions to BehaviorTree.ROS2 wrappers#304Conversation
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Yes, I opened #306 , but something strange is happening here... |
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CI seems to be fixed, but it is applying old pipeline. Can you rebase/merge? |
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I updated to current rolling. No merge conflicts. Error: https://github.com/PlanSys2/ros2_planning_system/actions/runs/8506248137/job/23296137377#step:4:227 Related to setting up ROS2 env. |
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Now, the errors are related to the library you included: |
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I am not completely happy including a new dependency. I would rather prefer to use parameters and avoiding |
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I used json to parse argument pairs. Because I wanted to be able to specify the action/service/topic names. Like this: move_cmd = Node(
package='plansys2_bt_actions',
executable='bt_action_node',
name='move',
namespace=namespace,
output='screen',
parameters=[
{
'action_name': 'move',
'bt_xml_file': example_dir + '/behavior_trees_xml/move.xml',
'plugins': json.dumps([
{'name': 'plansys2_NODE_A_bt_node', 'ast': 'topic_a'},
{'name': 'plansys2_NODE_B_bt_node', 'ast': 'topic_b'},
{'name': 'plansys2_NODE_C_bt_node', 'ast': 'topic_c'} ])
}
])I have altered it and removed the json dependency. I now use a double array: move_cmd = Node(
package='plansys2_bt_actions',
executable='bt_action_node',
name='move',
namespace=namespace,
output='screen',
parameters=[
{
'action_name': 'move',
'bt_xml_file': example_dir + '/behavior_trees_xml/move.xml',
'plugin_names': [
'plansys2_NODE_A_bt_node',
'plansys2_NODE_B_bt_node',
'plansys2_NODE_C_bt_node'
],
'plugin_asts': [
'action_A',
'service_A',
'topic_A'
]
}
]
)NOTE: the namespace specified during launch is added as prefix to AST's, e.g. to enable multiple name-spaced robots. Does this look acceptable to you? And do you agree this feature should be added? I also will create an example in the plansys2 examples when this PR is approved or pre-approved. Also, I just looked at the BehaviorTree.ROS2 repo for some examples. |
…lanning_system into behaviortree_ros2
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It is still failing: I think |
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If you did a marge with `rolling,' BT.CPP 4 should be in the CI workflow. May you check it? |
…lanning_system into behaviortree_ros2
2 participants
NOTE: Work in progress, needs testing!
Changelog
Added
behaviortree_ros2/ros_node_params.hpp,behaviortree_ros2/plugins.hppnode_namespace_and methodcreateFullyQualifiedNameinBTActionto handle namespace qualification inplansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp.BTAction::on_configureto handle plugin configurations dynamically.You can now specify the server node names used by the wrappers (
aststands for action, service or topic). I also chose to drop theconfig/params.yamlfor readability in my application (I will change theplansys2_bt_examplelater).Changed
BTAction::BTActionconstructor to use a single string for thepluginsparameter instead of a vector of strings inplansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp.BTAction::on_configurefor enhanced flexibility and error handling, including support for both node and ROS node registrations from plugins.Notes
testdirectory in the CMakeLists conditional compilation block is now commented out. Tests should be changed to reflect the changes made in this PR.ros2_planning_system_examples/plansys2_bt_examplehas not been adapted for these changes yet. I have testedaction,serviceandtopic subwrappers and they seem to work perfectly.