BehaviorTree.ROS2

Scope

This repository contains a ROS 2 layer for wrapping the functionalities of BehaviorTree.CPP.

Using this package you will have an executor for ROS 2 behavior trees and different nodes already prepared to interface with the ROS 2 system, like node publisher subscribers, services and actions.

Use BehaviorTree.ROS2

• Dockers is used to simplify the installation and the deployment of BehaviorTree.ROS2. To install the dockers follow this guide.

• Your public ssh keys should be correcly installed on the github portal to succesfully download the dependencies using the docker container.

• To download and start the BT executore, move in the desired development folder and use the following command.

    $ git clone [email protected]:Eurecat/BehaviorTree.ROS2.git
    $ cd BehaviorTree.ROS2/
    $ ./scripts/install.sh && ./scripts/compose.sh
  

  Note that, the first time you run this command it could take a more time than expected since it creates the image and compile the workspace with the BehaviorTree.ROS2 dependencies.

• You can log into the contenier with one or more terminal using the following script.

    $ ./scripts/exec.sh
  

Test the BehaviorTree.ROS2

To check that everything is installed correctly, you can test the following example.

• Start the executor

    $ ros2 launch bt_examples executor.launch.xml 
  

• Request to start the tree called ExampleTree1

    $ ros2 action send_goal /bt_action_server_example btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: ExampleTree1}"
  

• Monitor the execution status using groot

    $ ros2 run groot Groot
  

  After opened groot, you must click on connect to start the monitoring

TODO: discuss a better example

TODO: document the nodes implemented in the plugins

TODO: describe how to implement new plugins

Dependencies

// TODO

Note that you can specialize some functions for specific MessageType T in the case in which you want to deviate from the "standard" of ports and respective types imposed by the serialization or deserialization msg. For instance, ...

//TODO

Examples

Further Documentation

• ROS Behavior Wrappers
• TreeExecutionServer
• Sample Behaviors

Note that this library is compatible only with:

• BT.CPP 4.6 or newer.
• ROS2 Humble or Jazzy.

Additionally, check plugins.hpp and plugins.cpp to see how to learn how to wrap your Nodes into plugins that can be loaded at run-time.

Acknowledgements

A lot of code is either inspired or copied from Nav2.

For this reason, we retain the same license and copyright.