Add createROSInterfaces()

Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>

Author: Tacha-S

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -50,12 +50,6 @@ class BtServiceNode : public BT::ActionNodeBase
   : BT::ActionNodeBase(service_node_name, conf), service_name_(service_name), service_node_name_(
       service_node_name)
   {
-    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
-    callback_group_ = node_->create_callback_group(
-      rclcpp::CallbackGroupType::MutuallyExclusive,
-      false);
-    callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
-
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
@@ -67,11 +61,7 @@ class BtServiceNode : public BT::ActionNodeBase
     max_timeout_ = std::chrono::duration_cast<std::chrono::milliseconds>(bt_loop_duration * 0.5);
 
     // Now that we have node_ to use, create the service client for this BT service
-    getInput("service_name", service_name_);
-    service_client_ = node_->create_client<ServiceT>(
-      service_name_,
-      rclcpp::SystemDefaultsQoS(),
-      callback_group_);
+    createROSInterfaces();
 
     // Make a request for the service without parameter
     request_ = std::make_shared<typename ServiceT::Request>();
@@ -101,6 +91,24 @@ class BtServiceNode : public BT::ActionNodeBase
   {
   }
 
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces()
+  {
+    node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
+    callback_group_ = node_->create_callback_group(
+      rclcpp::CallbackGroupType::MutuallyExclusive,
+      false);
+    callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
+
+    getInput("service_name", service_name_);
+    service_client_ = node_->create_client<ServiceT>(
+      service_name_,
+      rclcpp::SystemDefaultsQoS(),
+      callback_group_);
+  }
+
   /**
    * @brief Any subclass of BtServiceNode that accepts parameters must provide a
    * providedPorts method and call providedBasicPorts in it.

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/controller_selector_node.hpp

@@ -71,6 +71,11 @@ class ControllerSelector : public BT::SyncActionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
+
   /**
    * @brief Function to perform some user-defined operation on tick
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp

@@ -71,6 +71,11 @@ class GoalCheckerSelector : public BT::SyncActionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
+
   /**
    * @brief Function to perform some user-defined operation on tick
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/planner_selector_node.hpp

@@ -71,6 +71,11 @@ class PlannerSelector : public BT::SyncActionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
+
   /**
    * @brief Function to perform some user-defined operation on tick
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp

@@ -70,6 +70,11 @@ class ProgressCheckerSelector : public BT::SyncActionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
+
   /**
    * @brief Function to perform some user-defined operation on tick
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smoother_selector_node.hpp

@@ -71,6 +71,11 @@ class SmootherSelector : public BT::SyncActionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
+
   /**
    * @brief Function to perform some user-defined operation on tick
    */

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_battery_charging_condition.hpp

@@ -63,6 +63,11 @@ class IsBatteryChargingCondition : public BT::ConditionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
+
   /**
    * @brief Callback function for battery topic
    * @param msg Shared pointer to sensor_msgs::msg::BatteryState message

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_path_valid_condition.hpp

@@ -68,6 +68,10 @@ class IsPathValidCondition : public BT::ConditionNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
   rclcpp::Node::SharedPtr node_;
   rclcpp::Client<nav2_msgs::srv::IsPathValid>::SharedPtr client_;
   // The timeout value while waiting for a response from the

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/is_stuck_condition.hpp

@@ -84,6 +84,10 @@ class IsStuckCondition : public BT::ConditionNode
   static BT::PortsList providedPorts() {return {};}
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
   // The node that will be used for any ROS operations
   rclcpp::Node::SharedPtr node_;
   rclcpp::CallbackGroup::SharedPtr callback_group_;

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp

@@ -63,6 +63,10 @@ class GoalUpdater : public BT::DecoratorNode
   }
 
 private:
+  /**
+   * @brief Function to create ROS interfaces
+   */
+  void createROSInterfaces();
   /**
    * @brief The main override required by a BT action
    * @return BT::NodeStatus Status of tick execution