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Merge branch 'bt_server' of github.com:BehaviorTree/BehaviorTree.ROS2 into bt_server
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‎README.md

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@@ -5,6 +5,7 @@ This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP togeth
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In particular, it provides a standard way to implement:
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- Behavior Tree Executor with ROS Action interface.
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- Action clients.
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- Service Clients.
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- Topic Subscribers.
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- to minimize the amount of boilerplate.
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- to make asynchronous Actions non-blocking.
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# Documentation
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- [ROS Behavior Wrappers](behaviortree_ros2/ros_behavior_wrappers.md)
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- [TreeExecutionServer](behaviortree_ros2/tree_execution_server.md)
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- [Sample Behaviors](btcpp_ros2_samples/README.md)
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Note that this library is compatible **only** with:
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- **BT.CPP** 4.1 or newer.

‎behaviortree_ros2/bt_executor_parameters.md

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# Bt Server Parameters
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Default Config
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```yaml
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bt_server:
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ros__parameters:
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action_name: bt_execution
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behavior_trees: '{}'
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groot2_port: 1667.0
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plugins: '{}'
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ros_plugins_timeout: 1000.0
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tick_frequency: 100.0
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```
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## action_name
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The name the Action Server takes requests from
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* Type: `string`
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* Default Value: "bt_execution"
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* Read only: True
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## tick_frequency
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Frequency in Hz to tick() the Behavior tree at
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* Type: `int`
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* Default Value: 100
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* Read only: True
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*Constraints:*
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- parameter must be within bounds 1
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## groot2_port
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Server port value to publish Groot2 messages on
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* Type: `int`
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* Default Value: 1667
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* Read only: True
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*Constraints:*
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- parameter must be within bounds 1
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## plugins
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List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory
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* Type: `string_array`
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* Default Value: {}
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*Constraints:*
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- contains no duplicates
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## ros_plugins_timeout
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Timeout (ms) used in BT::RosNodeParams
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* Type: `int`
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* Default Value: 1000
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*Constraints:*
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- parameter must be within bounds 1
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## behavior_trees
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List of 'package_name/subfolder' containing SubTrees to load into the BehaviorTree factory
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* Type: `string_array`
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* Default Value: {}
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*Constraints:*
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- contains no duplicates

‎behaviortree_ros2/ros_behavior_wrappers.md

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# ROS Behavior Wrappers
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A base class is used to implement each Behavior type for a ROS Action, Service or Topic Publisher / Subscriber.
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Users are expected to create a derived class and can implement the following methods.
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# ROS Action Behavior Wrapper
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### bool setGoal(Goal& goal)
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Required callback that allows the user to set the goal message.
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Return false if the request should not be sent. In that case, RosActionNode::onFailure(INVALID_GOAL) will be called.
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### BT::NodeStatus onResultReceived(const WrappedResult& result)
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Required callback invoked when the result is received by the server.
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It is up to the user to define if the action returns SUCCESS or FAILURE.
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### BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback)
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Optional callback invoked when the feedback is received.
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It generally returns RUNNING, but the user can also use this callback to cancel the current action and return SUCCESS or FAILURE.
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### BT::NodeStatus onFailure(ActionNodeErrorCode error)
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Optional callback invoked when something goes wrong.
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It must return either SUCCESS or FAILURE.
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### void onHalt()
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Optional callback executed when the node is halted.
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Note that cancelGoal() is done automatically.
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# ROS Service Behavior Wrapper
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### setRequest(typename Request::SharedPtr& request)
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Required callback that allows the user to set the request message (ServiceT::Request).
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### BT::NodeStatus onResponseReceived(const typename Response::SharedPtr& response)
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Required callback invoked when the response is received by the server.
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It is up to the user to define if this returns SUCCESS or FAILURE.
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### BT::NodeStatus onFailure(ServiceNodeErrorCode error)
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Optional callback invoked when something goes wrong; you can override it.
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It must return either SUCCESS or FAILURE.
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# ROS Topic Publisher Wrapper
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### bool setMessage(TopicT& msg)
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Required callback invoked in tick to allow the user to pass the message to be published.
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# ROS Topic Subscriber Wrapper
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### NodeStatus onTick(const std::shared_ptr<TopicT>& last_msg)
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Required callback invoked in the tick. You must return either SUCCESS of FAILURE.
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### bool latchLastMessage()
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Optional callback to latch the message that has been processed.
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If returns false and no new message is received, before next call there will be no message to process.
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If returns true, the next call will process the same message again, if no new message received.

‎behaviortree_ros2/tree_execution_server.md

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## ROS Parameters
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Default Config
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```yaml
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bt_action_server:
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ros__parameters:
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action_name: bt_execution
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behavior_tick_frequency: 100.0
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behavior_trees: '{}'
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groot2_port: 1667.0
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ros_plugins_timeout: 1000,
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plugins: '{}'
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```
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### action_name
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The name the Action Server takes requests from
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* Type: `string`
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* Default Value: "bt_execution"
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* Read only: True
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### behavior_tick_frequency
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Frequency in Hz to tick() the Behavior tree at
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* Type: `int`
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* Default Value: 100
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* Read only: True
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*Constraints:*
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- parameter must be within bounds 1
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### groot2_port
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Server port value to publish Groot2 messages on
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* Type: `int`
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* Default Value: 1667
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* Read only: True
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*Constraints:*
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### ros_plugins_timeout
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Documentation for the parameters used by the `TreeExecutionServer` can be found [here](bt_executor_parameters.md).
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Timeout, in milliseconds, to use with ROS Plugins (see BT::RosNodeParams)
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* Type: `int`
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* Default Value: {}
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*Constraints:*
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- parameter must be within 1 and 10000
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### plugins
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List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory.
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These are plugins created using either the macro `BT_RegisterNodesFromPlugin` or `BT_RegisterRosNodeFromPlugin`.
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* Type: `string_array`
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* Default Value: {}
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*Constraints:*
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- contains no duplicates
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### behavior_trees
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List of 'package_name/subfolder' containing SubTrees to load into the BehaviorTree factory
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* Type: `string_array`
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* Default Value: {}
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*Constraints:*
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- contains no duplicates
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If the parameter documentation needs updating you can regenerate it with:
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```bash
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generate_parameter_library_markdown --input_yaml src/bt_executor_parameters.yaml --output_markdown_file bt_executor_parameters.md
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```

‎btcpp_ros2_samples/CMakeLists.txt

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RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
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)
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######################################################
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# INSTALL Behavior.xml's, ROS config and launch files
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install(DIRECTORY
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behavior_trees
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config
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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ament_export_dependencies(behaviortree_ros2 btcpp_ros2_interfaces)
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‎btcpp_ros2_samples/README.md

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# Sample Behaviors
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For documentation on sample behaviors included in this package please see the BehaviorTree.CPP [ROS 2 Integration documentation](https://www.behaviortree.dev/docs/ros2_integration). Documentation of the derived class methods can methods for each ROS interface type can be found [here](../behaviortree_ros2/ros_behavior_wrappers.md).
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# TreeExecutionServer Sample
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Documentation on the TreeExecutionServer used in this example can be found [here](../behaviortree_ros2/tree_execution_server.md).
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To start the sample Execution Server that load a list of plugins and BehaviorTrees from `yaml` file:
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``` bash
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ros2 launch btcpp_ros2_samples sample_bt_executor.launch.xml
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```
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> *NOTE:* For documentation on the `yaml` parameters please see [bt_executor_parameters.md](../behaviortree_ros2/bt_executor_parameters.md).
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As the Server starts up it will print out the name of the ROS Action followed by the plugins and BehaviorTrees it was able to load.
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```
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[bt_action_server]: Starting Action Server: behavior_server
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[bt_action_server]: Loaded Plugin: libdummy_nodes_dyn.so
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[bt_action_server]: Loaded Plugin: libmovebase_node_dyn.so
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[bt_action_server]: Loaded Plugin: libcrossdoor_nodes_dyn.so
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[bt_action_server]: Loaded Plugin: libsleep_plugin.so
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[bt_action_server]: Loaded BehaviorTree: door_closed.xml
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[bt_action_server]: Loaded BehaviorTree: cross_door.xml
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```
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To call the Action Server from the command line:
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``` bash
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ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: CrossDoor}"
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```
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You can also try a Behavior that is a ROS Action or Service client itself.
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```bash
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ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: SleepActionSample}"
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```

‎btcpp_ros2_samples/launch/sample_bt_executor.launch.xml

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<launch>
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<arg name="sleep_server" default="true"/>
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<node pkg="btcpp_ros2_samples" exec="simple_bt_executor" output="screen">
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<param from="$(find-pkg-share btcpp_ros2_samples)/config/simple_bt_executor.yaml"/>
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<node pkg="btcpp_ros2_samples" exec="sample_bt_executor" output="screen">
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<param from="$(find-pkg-share btcpp_ros2_samples)/config/sample_bt_executor.yaml"/>
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</node>
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<group if="$(var sleep_server)">

‎btcpp_ros2_samples/src/sample_bt_executor.cpp

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#include <behaviortree_ros2/tree_execution_server.hpp>
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#include <behaviortree_cpp/loggers/bt_cout_logger.h>
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// Example that shows how to customize ActionServerBT.
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// Example that shows how to customize TreeExecutionServer.
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// Here, we simply add an extra logger
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class MyActionServer : public BT::TreeExecutionServer
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{

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