This ROS 2 package is designed to make building, combining and executing BehaviorTree.CPP based Behaviors easy and reusable. It includes an Action Server that is able to register plugins and Trees/Subtrees so that a user can execute any known BehaviorTree by simply sending the name of it to the server.
An example launch file is included that starts the server and loads a list of plugins and BehaviorTrees from yaml file:
ros2 launch action_server_bt_samples action_server_bt.launch.xmlAs the server starts up it will print out the name of the Action followed by the plugins and BehaviorTrees have been loaded.
[action_server_bt]: Starting Action Server: behavior_server
[action_server_bt]: Loaded Plugin: libdummy_nodes_dyn.so
[action_server_bt]: Loaded Plugin: libmovebase_node_dyn.so
[action_server_bt]: Loaded Plugin: libcrossdoor_nodes_dyn.so
[action_server_bt]: Loaded ROS Plugin: libsleep_plugin.so
[action_server_bt]: Loaded BehaviorTree: door_closed.xml
[action_server_bt]: Loaded BehaviorTree: cross_door.xml
To call ActionServer.BT from the command line:
ros2 action send_goal /behavior_server action_server_bt_msgs/action/ActionTree "{target_tree: CrossDoor}"NOTE: the name of the Action Server is customizable and is renamed in
action_server_bt_sample.yaml
You can also try a Behavior that is a ROS Action or Service client itself. Please see the BehaviorTree.CPP documentation on building Behaviors based on ROS interfaces.
ros2 action send_goal /behavior_server action_server_bt_msgs/action/ActionTree "{target_tree: SleepActionSample}"- Clone this repository and its required dependencies (Once the upstream repositories have been updated to be compatible with this repository this step will be removed):
git clone https://github.com/MarqRazz/ActionServer.BT.git
vcs import < ActionServer.BT/action_server_bt.repos- Install dependencies with rosdep:
rosdep install --from-paths . --ignore-src --rosdistro "$ROS_DISTRO" -y- Build the colcon workspace with:
colcon build