docs cleanup

README.md

@@ -5,6 +5,7 @@ This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP togeth
 
 In particular, it provides a standard way to implement:
 
+- Behavior Tree Executor with ROS Action interface.
 - Action clients.
 - Service Clients.
 - Topic Subscribers.
@@ -15,6 +16,12 @@ Our main goals are:
 - to minimize the amount of boilerplate.
 - to make asynchronous Actions non-blocking.
 
+# Documentation
+
+- [ROS Behavior Wrappers](behaviortree_ros2/ros_behavior_wrappers.md)
+- [TreeExecutionServer](behaviortree_ros2/tree_execution_server.md)
+- [Sample Behaviors](btcpp_ros2_samples/README.md)
+
 Note that this library is compatible **only** with:
 
 - **BT.CPP** 4.1 or newer.

behaviortree_ros2/ros_behavior_wrappers.md

@@ -0,0 +1,66 @@
+# ROS Behavior Wrappers
+
+A base class is used to implement each Behavior type for a ROS Action, Service or Topic Publisher / Subscriber.
+
+Users are expected to create a derived class and can implement the following methods.
+
+# ROS Action Behavior Wrapper
+
+### bool setGoal(Goal& goal)
+
+Required callback that allows the user to set the goal message.
+Return false if the request should not be sent. In that case, RosActionNode::onFailure(INVALID_GOAL) will be called.
+
+### BT::NodeStatus onResultReceived(const WrappedResult& result)
+
+Required callback invoked when the result is received by the server. 
+It is up to the user to define if the action returns SUCCESS or FAILURE.
+
+### BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback)
+
+Optional callback invoked when the feedback is received.
+It generally returns RUNNING, but the user can also use this callback to cancel the current action and return SUCCESS or FAILURE.
+
+### BT::NodeStatus onFailure(ActionNodeErrorCode error)
+
+Optional callback invoked when something goes wrong.
+It must return either SUCCESS or FAILURE.
+
+### void onHalt()
+
+Optional callback executed when the node is halted.
+Note that cancelGoal() is done automatically.
+
+# ROS Service Behavior Wrapper
+
+### setRequest(typename Request::SharedPtr& request)
+
+Required callback that allows the user to set the request message (ServiceT::Request).
+
+### BT::NodeStatus onResponseReceived(const typename Response::SharedPtr& response)
+
+Required callback invoked when the response is received by the server.
+It is up to the user to define if this returns SUCCESS or FAILURE.
+
+### BT::NodeStatus onFailure(ServiceNodeErrorCode error)
+
+Optional callback invoked when something goes wrong; you can override it.
+It must return either SUCCESS or FAILURE.
+
+# ROS Topic Publisher Wrapper
+
+### bool setMessage(TopicT& msg)
+
+Required callback invoked in tick to allow the user to pass the message to be published.
+
+# ROS Topic Subscriber Wrapper
+
+### NodeStatus onTick(const std::shared_ptr<TopicT>& last_msg)
+
+Required callback invoked in the tick. You must return either SUCCESS of FAILURE.
+
+### bool latchLastMessage()
+
+Optional callback to latch the message that has been processed. 
+If returns false and no new message is received, before next call there will be no message to process. 
+If returns true, the next call will process the same message again, if no new message received.

behaviortree_ros2/tree_execution_server.md

@@ -67,77 +67,9 @@ sent as feedback to the `rclcpp_action::Client`.
 
 ## ROS Parameters
 
-Default Config
-
-```yaml
-bt_action_server:
-  ros__parameters:
-    action_name: bt_execution
-    behavior_tick_frequency: 100.0
-    behavior_trees: '{}'
-    groot2_port: 1667.0
-    ros_plugins_timeout: 1000,
-    plugins: '{}'
-```
-
-### action_name
-
-The name the Action Server takes requests from
-
-* Type: `string`
-* Default Value: "bt_execution"
-* Read only: True
-
-### behavior_tick_frequency
-
-Frequency in Hz to tick() the Behavior tree at
-
-* Type: `int`
-* Default Value: 100
-* Read only: True
-
-*Constraints:*
- - parameter must be within bounds 1
-
-### groot2_port
-
-Server port value to publish Groot2 messages on
-
-* Type: `int`
-* Default Value: 1667
-* Read only: True
-
-*Constraints:*
- - parameter must be within bounds 1
-
-### ros_plugins_timeout
+Documentation for the parameters used by the `TreeExecutionServer` can be found [here](bt_executor_parameters.md).
 
-Timeout, in milliseconds, to use with ROS Plugins (see BT::RosNodeParams)
-
-* Type: `int`
-* Default Value: {}
-
-*Constraints:*
- - parameter must be within 1 and 10000
-
-### plugins
-
-List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory.
-
-These are plugins created using either the macro `BT_RegisterNodesFromPlugin` or `BT_RegisterRosNodeFromPlugin`.
-
-* Type: `string_array`
-* Default Value: {}
-
-*Constraints:*
- - contains no duplicates
-
-### behavior_trees
-
-List of 'package_name/subfolder' containing SubTrees to load into the BehaviorTree factory
-
-* Type: `string_array`
-* Default Value: {}
-
-*Constraints:*
- - contains no duplicates
+If the parameter documentation needs updating you can regenerate it with:
+```bash
+generate_parameter_library_markdown --input_yaml src/bt_executor_parameters.yaml --output_markdown_file bt_executor_parameters.md
+```

btcpp_ros2_samples/README.md

@@ -1,15 +1,12 @@
 # Sample Behaviors
 
-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) .
+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).
 
-# TreeExecutionServer Documentation and Example
+# TreeExecutionServer Sample
 
-This package also includes an example Behavior Tree Executor that is designed to make building, combining and executing [BehaviorTree.CPP](https://www.behaviortree.dev/docs/intro) based Behaviors easy and reusable.
-This Executor includes an Action Server that is able to register plugins or directly linked Behaviors and Trees/Subtrees so that a user can execute any known BehaviorTree by simply sending the name of it to the server.
+Documentation on the TreeExecutionServer used in this example can be found [here](../behaviortree_ros2/tree_execution_server.md).
 
-The `TreeExecutionServer` class offers several overridable methods that that can be used to meet your specific needs. Please see [tree_execution_server.hpp](../behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp) for descriptions and requirements of each virtual method. You can also refer to [sample_bt_executor.cpp](src/sample_bt_executor.cpp) for a working example of the `TreeExecutionServer`.
-
-A launch file is included that starts the Execution Server and loads a list of plugins and BehaviorTrees from `yaml` file:
+To start the sample Execution Server that load a list of plugins and BehaviorTrees from `yaml` file:
 ``` bash
 ros2 launch btcpp_ros2_samples sample_bt_executor.launch.xml
 ```
@@ -18,21 +15,21 @@ ros2 launch btcpp_ros2_samples sample_bt_executor.launch.xml
 
 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.
 ```
-[bt_action_server]: Starting Action Server: bt_action_server
+[bt_action_server]: Starting Action Server: behavior_server
 [bt_action_server]: Loaded Plugin: libdummy_nodes_dyn.so
 [bt_action_server]: Loaded Plugin: libmovebase_node_dyn.so
 [bt_action_server]: Loaded Plugin: libcrossdoor_nodes_dyn.so
-[bt_action_server]: Loaded ROS Plugin: libsleep_plugin.so
+[bt_action_server]: Loaded Plugin: libsleep_plugin.so
 [bt_action_server]: Loaded BehaviorTree: door_closed.xml
-[bt_action_server]: Loaded Beha viorTree: cross_door.xml
+[bt_action_server]: Loaded BehaviorTree: cross_door.xml
 ```
 
 To call the Action Server from the command line:
 ``` bash
-ros2 action send_goal /bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: CrossDoor}"
+ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: CrossDoor}"
 ```
 
 You can also try a Behavior that is a ROS Action or Service client itself.
 ```bash
-ros2 action send_goal /bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: SleepActionSample}"
+ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: SleepActionSample}"
 ```