behavior_tree: migration to BT.CPP 4.5.x #4128

facontidavide · 2024-02-20T19:40:01Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4059
Primary OS tested on	Ubuntu 22.04, Rolling
Robotic platform tested on	none
Does this PR contain AI generated software?	No

Description of contribution in a few bullet points

Moving from BT.CPP 3.8 to BT.CPP 4.5 (latest in Rolling).

TODO:

Compile without errors.
Fix failing unit tests.
Handle NodeStatus::SKIPPED in Control Nodes and Decorators.
Add documentation in "Migration guide".

List of changes:

XML: adding BTCPP_format="4" to root and removing the redundant main_tree_to_execute
blackboard->get is [[nodiscard]] in BT.CPP 4.x.
Fix the different behavior of ReactiveSequence and ReactiveFallback
tickRoot renamed to tickOnce

Description of documentation updates required from your changes

None of these changes should affect the user's code, nor in terms of Behavior or API.

But we need to add the migration guide to the website.
I will also need to update mine here: https://www.behaviortree.dev/docs/migration

Future work that may be required in bullet points

Groot2 publisher to be added to the BT executor.
Reminder that using blackboard->get prevent the use of SubTrees, but not the topic of this PR.

For Maintainers:

Check that any new parameters added are updated in navigation.ros.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

SteveMacenski · 2024-02-20T19:49:27Z

The fastest I've ever reviewed 93 files 😆 I'll pick up the rest tomorrow

facontidavide · 2024-02-21T10:02:35Z

I am realizing that this is more work than I expected and converted this to DRAFT.

I will keep you posted on the progress; in the meantime, I added a list of TODOs in the description above

SteveMacenski · 2024-02-21T17:55:54Z

OK, LMK explicitly when you want me to review again, I'll ignore updates until then

Was tickRoot just renamed to tickOnce or is there a real behavioral change you're making there?

mergify · 2024-02-22T07:22:08Z

@facontidavide, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

facontidavide · 2024-02-22T07:59:13Z

Was tickRoot just renamed to tickOnce or is there a real behavioral change you're making there?

tickRoot now offers more options, being tickWhileRunning my suggested default.
tickOnce is the equivalent to the old behavior.

facontidavide · 2024-02-22T16:38:19Z

@SteveMacenski I believe that the tests on CI might be flaky, and I can not spot any relationship between those errors and my changes. Can you?

SteveMacenski · 2024-02-22T18:06:51Z

@facontidavide your branch may be out of sync by several weeks. I fixed the spin tests if you rebase (something in the rclcpp libs changed in rolling and exposed some issues that this is just an application manifestation of). That spin test failure and the WPF flaky test were resolved in mainline - but either way you're probably right if you're only seeing those 2 that its not related to you. But, I do want to see coverage metrics after this transition, so rebase so that it'll generate

Signed-off-by: Davide Faconti <[email protected]>

codecov · 2024-02-22T22:18:56Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 90.04%. Comparing base (55c952d) to head (4122287).
Report is 3 commits behind head on main.

❗ Current head 4122287 differs from pull request most recent head 76a2b67. Consider uploading reports for the commit 76a2b67 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4128      +/-   ##
==========================================
- Coverage   90.11%   90.04%   -0.07%     
==========================================
  Files         432      432              
  Lines       19406    19407       +1     
==========================================
- Hits        17487    17475      -12     
- Misses       1919     1932      +13

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

Signed-off-by: Davide Faconti <[email protected]>

facontidavide · 2024-02-27T15:10:18Z

@SteveMacenski waiting for CI to confirm but tests should pass now.

I added all the changes that I wanted to, also some test cases.

let me know what you think. If you need more information about the SKIPPED status, just ask

SteveMacenski · 2024-02-28T01:52:21Z

There's a DWB test that seems to be failing deterministically on this PR (2/2) which is odd. Its a known flaky test, but flaky means like 1/500 I see it, seeing it 2x in row here is extremely unusual. But, I think safely not your fault unless it fails for a third time right now.

Let me know when you're ready.

facontidavide · 2024-02-28T06:40:21Z

Code is ready to be reviewed, but I will investigate that

Signed-off-by: Davide Faconti <[email protected]>

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

nav2_behavior_tree/plugins/condition/goal_updated_condition.cpp

nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp

nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp

SteveMacenski · 2024-02-28T17:32:41Z

nav2_behavior_tree/src/behavior_tree_engine.cpp

@@ -32,6 +32,11 @@ BehaviorTreeEngine::BehaviorTreeEngine(
  for (const auto & p : plugin_libraries) {
    factory_.registerFromPlugin(loader.getOSName(p));
  }
+
+  // FIXME: the next two line are needed for back-compatibility with BT.CPP 3.8.x


Please explain for my knowledge + file a separate ticket for this so its not forgotten. Also, why twice?

the two lines are not the same :)

The explanation can be found here: BehaviorTree/BehaviorTree.CPP#755

In short, I changed the way these nodes work, but that change made things worse, so I am reverting it in 4.6.

I added this specifically because you mentioned that you don't want to use the "latest version".

This is the workaround, if you want to use 4.5 (a small price to pay)

OK - please file a separate ticket as a reminder to us both about this - we don't accept inline FIXME / TODOs as proper documentation of issues (there are some in the codebase, but those all predate my tenure)

Signed-off-by: Davide Faconti <[email protected]>

mergify · 2024-02-29T10:17:42Z

@facontidavide, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp

nav2_behavior_tree/plugins/decorator/path_longer_on_approach.cpp

Signed-off-by: Davide Faconti <[email protected]>

nav2_behavior_tree/plugins/control/round_robin_node.cpp

SteveMacenski

Last change - otherwise I went through the rest of the files and I approve

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

SteveMacenski · 2024-02-29T17:59:43Z

Question: What if a post-callback fails? The skipped is for pre-conditions not being met, do post-conditions throw or something? (also not mentioned in the v3 to v4 guide what is SOP)

Signed-off-by: Davide Faconti <[email protected]>

mergify · 2024-02-29T18:13:54Z

@facontidavide, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

Signed-off-by: Davide Faconti <[email protected]>

fmros · 2024-03-07T14:08:17Z

Do you plan to backport this PR to humble? Thanks

SteveMacenski · 2024-03-07T18:02:06Z

No, its not ABI compatible.

* behavior_tree: migration to BT.CPP 4.5.x Signed-off-by: Davide Faconti <[email protected]> * fix formatting Signed-off-by: Davide Faconti <[email protected]> * fix lint warning Signed-off-by: Davide Faconti <[email protected]> * remove setStatus(BT::NodeStatus::IDLE) Signed-off-by: Davide Faconti <[email protected]> * handle SKIPPED state Signed-off-by: Davide Faconti <[email protected]> * fix SequenceStar Signed-off-by: Davide Faconti <[email protected]> * add tests Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * fix unit tests Signed-off-by: Davide Faconti <[email protected]> * add emitWakeUpSignal() Signed-off-by: Davide Faconti <[email protected]> * fit test Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * keep resetStatus() in action_node Signed-off-by: Davide Faconti <[email protected]> * add suggestions from peer reviewer Signed-off-by: Davide Faconti <[email protected]> * fix compilation Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: stevedan <[email protected]>

Signed-off-by: stevedan <[email protected]> New MPPI Cost Critic (Contrib: Brice Renaudeau) (ros-navigation#4090) * Share code Signed-off-by: Brice <[email protected]> * Update inflation_cost_critic.hpp - copyright - ifndef Signed-off-by: Brice <[email protected]> * fix lint cpp - extra space Signed-off-by: Brice <[email protected]> * Fix Smac Planner confined collision checker (ros-navigation#4055) * Update collision_checker.cpp Signed-off-by: Steve Macenski <[email protected]> * Fix tests Signed-off-by: Steve Macenski <[email protected]> * Update test_a_star.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Brice <[email protected]> * Prevent analytic expansions from shortcutting Smac Planner feasible paths (ros-navigation#3962) * a potential solution to smac shortcutting * costmap reoslution * some fixes * completed prototype * some fixes for collision detection and performance * completing shortcutting fix * updating tests * adding readme --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * change pointer free order in amcl to avoid use-after-free bug mentioned in ros-navigation#4068 (ros-navigation#4070) Signed-off-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Signed-off-by: Brice <[email protected]> * [Smac Planner] Massive Improvement of Behavior for SE2 Footprint Checking (ie non-circular robots) In Confined Settings (ros-navigation#4067) * prototype to test SE2 footprint H improvements * some fixes * fixed * invert logic * Working final prototype to be tested * complete unit test conversions * Update inflation_layer.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Adding new Smac paper to readme Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Update README.md Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * [behavior_tree] don't repeat yourself in "blackboard->set" (ros-navigation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <[email protected]> * misse change Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: Brice <[email protected]> * Allow path end pose deviation revive (ros-navigation#4065) * Support stitching paths in compute path to poses * Update nav2_planner/src/planner_server.cpp Co-authored-by: Steve Macenski <[email protected]> * Rename parameter to allow_path_through_poses_goal_deviation * Fix description * restore nav2_params * missing whitespace * lint fix * removed parameter Signed-off-by: gg <[email protected]> * Update planner_server.hpp * Update planner_server.cpp --------- Signed-off-by: gg <[email protected]> Co-authored-by: pepisg <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Signed-off-by: Brice <[email protected]> * Updated code to use getInflationLayer() method (ros-navigation#4076) * updated code to use getInflationLayer method Signed-off-by: Jose Faria <[email protected]> * Fix linting Signed-off-by: Jose Faria <[email protected]> --------- Signed-off-by: Jose Faria <[email protected]> Signed-off-by: Brice <[email protected]> * 1594 twist stamped publisher (ros-navigation#4077) * Add TwistStamped to controller_server via TwistPublisher util * Add a new util class for publishing either Twist or TwistStamped * Add a new parameter for selecting to stamp the twist data * Consume TwistPublisher in nav2_controller Signed-off-by: Ryan Friedman <[email protected]> * Fix small issues * Unused variable * Incorrect doxygen Signed-off-by: Ryan Friedman <[email protected]> * Remove stored node and assert Signed-off-by: Ryan Friedman <[email protected]> * Add tests for node * Facing timeout even though it does the same thing as velocity smoother test Signed-off-by: Ryan Friedman <[email protected]> * Add missing spin call to solve timeout Signed-off-by: Ryan Friedman <[email protected]> * Fix copyright (me instead of intel) Signed-off-by: Ryan Friedman <[email protected]> * Add full test coverage with subscriber Signed-off-by: Ryan Friedman <[email protected]> * Remove unused rclcpp fixture * Can't use it due to needing to join the pub thread after rclcpp shuts down Signed-off-by: Ryan Friedman <[email protected]> * Use TwistStamped in nav2_behaviors Signed-off-by: Ryan Friedman <[email protected]> * Use TwistStamped in collision monitor node Signed-off-by: Ryan Friedman <[email protected]> * Add TwistStamped readme updates to velocity smoother Signed-off-by: Ryan Friedman <[email protected]> * Add TwistSubscriber implementation Signed-off-by: Ryan Friedman <[email protected]> * Fix syntax errors Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in test_velocity_smoother Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in assisted_teleop Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in collision monitor node Signed-off-by: Ryan Friedman <[email protected]> * Use TwistSubscriber in velocity smoother Signed-off-by: Ryan Friedman <[email protected]> * Remove unused code Signed-off-by: Ryan Friedman <[email protected]> * add timestamp and frame_id to TwistStamped message * Add missing utility include Signed-off-by: Ryan Friedman <[email protected]> * Document TwistPublisher and TwistSubscriber usage Signed-off-by: Ryan Friedman <[email protected]> * Use pass-by-reference * Instead of std::move(std::unique_ptr<TwistStamped>) Signed-off-by: Ryan Friedman <[email protected]> * Finish twist subscriber tests Signed-off-by: Ryan Friedman <[email protected]> * Add other constructor and docs Signed-off-by: Ryan Friedman <[email protected]> * Fix linter issues Signed-off-by: Ryan Friedman <[email protected]> * Manually fix paren alignment Signed-off-by: Ryan Friedman <[email protected]> * Remove GSoC reference Signed-off-by: Ryan Friedman <[email protected]> * Document twist bool param in README Signed-off-by: Ryan Friedman <[email protected]> * Handle twistPublisher in collision monitor * Implement behavior in the stamped callback * Unstamped callback calls the stamped callback * Switch to unique pointer for publisher Signed-off-by: Ryan Friedman <[email protected]> * Convert to using TwistStamped interally * Use incoming twistStamped timestamp if available * Convert all internal representations to use TwistStamped Signed-off-by: Ryan Friedman <[email protected]> * Remove nav2_util usage instructions Signed-off-by: Ryan Friedman <[email protected]> * Remove unused Twist only subscriber Signed-off-by: Ryan Friedman <[email protected]> * More linter fixes Signed-off-by: Ryan Friedman <[email protected]> * Prefer working with unique_ptr for cmd_vel * This makes it easier to switch to std::move instead of dereference on publish Signed-off-by: Ryan Friedman <[email protected]> * Completing twist stamped migration * shared to unique ptr Signed-off-by: Steve Macenski <[email protected]> * twist add stamps and properly propogated * nav2_util: fix for compiling with clang - Resolve error: moving a temporary object prevents copy elision [-Werror,-Wpessimizing-move] Signed-off-by: Rhys Mainwaring <[email protected]> --------- Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Co-authored-by: pedro-fuoco <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Co-authored-by: Rhys Mainwaring <[email protected]> Signed-off-by: Brice <[email protected]> * Change costmap_queue to shared library (ros-navigation#4072) Signed-off-by: cybaol <[email protected]> Signed-off-by: Brice <[email protected]> * fix include of hpp Signed-off-by: Brice Renaudeau <[email protected]> * inflation cost optmiizations and cleanu * rename, add defaults, and docs * smoke test addition * lintg * normalize weight * update readme * increment cache * Update cost_critic.hpp Signed-off-by: Steve Macenski <[email protected]> * Update cost_critic.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Brice <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Signed-off-by: GoesM <[email protected]> Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: gg <[email protected]> Signed-off-by: Jose Faria <[email protected]> Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: cybaol <[email protected]> Signed-off-by: Brice Renaudeau <[email protected]> Co-authored-by: BriceRenaudeau <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: GoesM <[email protected]> Co-authored-by: Davide Faconti <[email protected]> Co-authored-by: Joshua Wallace <[email protected]> Co-authored-by: pepisg <[email protected]> Co-authored-by: Pedro Alejandro González <[email protected]> Co-authored-by: jncfa <[email protected]> Co-authored-by: Ryan <[email protected]> Co-authored-by: pedro-fuoco <[email protected]> Co-authored-by: Rhys Mainwaring <[email protected]> Co-authored-by: Kino <[email protected]> [behavior_tree] support both ports and blackboard (ros-navigation#4060) * check result of blackboard->get and use halTree Signed-off-by: Davide Faconti <[email protected]> * remove unused header Signed-off-by: Davide Faconti <[email protected]> * BT: add port inputs when missing and use getInputPortOrBlackboard Signed-off-by: Davide Faconti <[email protected]> * add description Signed-off-by: Davide Faconti <[email protected]> * change return value of getInputPortOrBlackboard Signed-off-by: Davide Faconti <[email protected]> * updated tree XML Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> Use ament_export_targets for all targets (ros-navigation#4112) * Matches new internal ALIAS targets * Use ALIAS targets for all internal linkage * Remove unnecessary calls to ament_target_dependencies in test code * Export includes in proper folders for overlays in colcon Signed-off-by: Ryan Friedman <[email protected]> adding new Friends of Nav2 Sponsors! Update README.md (ros-navigation#4114) Signed-off-by: Steve Macenski <[email protected]> CI green P3 (ros-navigation#4117) Refactors `possible_inscribed_cost` to `possible_circumscribed_cost` in collision checker for smac_planner and mppi_controller (ros-navigation#4113). (ros-navigation#4118) * Utilizes circumscribed radius to assess potential collision points on the robot. * Ensures safety when the robot's center is outside the circumscribed radius, eliminating additional checks and optimizing CPU usage. Signed-off-by: Alan Xue <[email protected]> Added cast to float to getClosestAngularBin return for behavior consistency (ros-navigation#4123) * Added cast to float to getClosestAngularBin return for behavior consistency. Signed-off-by: Hunter Song <[email protected]> * Revised test name Signed-off-by: Hunter Song <[email protected]> --------- Signed-off-by: Hunter Song <[email protected]> Adding context to MPPI readme Signed-off-by: Steve Macenski <[email protected]> [behavior_tree] Add generate_nav2_tree_nodes_xml (ros-navigation#4073) * Add generate_nav2_tree_nodes_xml Signed-off-by: Davide Faconti <[email protected]> * behavior_tree: removed list of plugins from yaml Signed-off-by: Davide Faconti <[email protected]> * check result of get_parameter(plugin_lib_names) Signed-off-by: Davide Faconti <[email protected]> * fix previous commit (uncrustify) Signed-off-by: Davide Faconti <[email protected]> * revert change Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> Fix compilation with clang (ros-navigation#4131) Signed-off-by: Ramon Wijnands <[email protected]> code improvement based on feedback. Name changes and minor code improvement Signed-off-by: stevedan <[email protected]> Fix goal handle was not freed correctly (ros-navigation#4137) * Fix goal handle was not freed correctly * Update nav2_util/include/nav2_util/simple_action_server.hpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Ziohang <[email protected]> Co-authored-by: Steve Macenski <[email protected]> Adding Nvidia as Gold Sponsor! (ros-navigation#4144) Prevent a possible segmentation fault (ros-navigation#4141) (ros-navigation#4147) * Prevent a possible segmentation fault Signed-off-by: Joni Pöllänen <[email protected]> * Cleanup Signed-off-by: Joni Pöllänen <[email protected]> --------- Signed-off-by: Joni Pöllänen <[email protected]> Updating stereolabs logo (ros-navigation#4158) Update README.md Signed-off-by: Steve Macenski <[email protected]> behavior_tree: migration to BT.CPP 4.5.x (ros-navigation#4128) * behavior_tree: migration to BT.CPP 4.5.x Signed-off-by: Davide Faconti <[email protected]> * fix formatting Signed-off-by: Davide Faconti <[email protected]> * fix lint warning Signed-off-by: Davide Faconti <[email protected]> * remove setStatus(BT::NodeStatus::IDLE) Signed-off-by: Davide Faconti <[email protected]> * handle SKIPPED state Signed-off-by: Davide Faconti <[email protected]> * fix SequenceStar Signed-off-by: Davide Faconti <[email protected]> * add tests Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * fix unit tests Signed-off-by: Davide Faconti <[email protected]> * add emitWakeUpSignal() Signed-off-by: Davide Faconti <[email protected]> * fit test Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * keep resetStatus() in action_node Signed-off-by: Davide Faconti <[email protected]> * add suggestions from peer reviewer Signed-off-by: Davide Faconti <[email protected]> * fix compilation Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> bug fix (ros-navigation#4160) Signed-off-by: Tianchu <[email protected]> Stop planner if the goal is cancelled (ros-navigation#4148) * Add support for stopping planners when the action is cancelled Signed-off-by: Kemal Bektas <[email protected]> * Support cancel in Smac planner Signed-off-by: Kemal Bektas <[email protected]> * Support cancel in Theta* planner Signed-off-by: Kemal Bektas <[email protected]> * Support cancel in Navfn planner Signed-off-by: Kemal Bektas <[email protected]> * Update nav2_system_tests to use cancel checker Signed-off-by: Kemal Bektas <[email protected]> * Add terminal_checking_interval parameter Signed-off-by: Kemal Bektas <[email protected]> * Handle timeout and cancel check on the same branch and default to 5000 iterations Signed-off-by: Kemal Bektas <[email protected]> * Add system tests for cancel Signed-off-by: Kemal Bektas <[email protected]> --------- Signed-off-by: Kemal Bektas <[email protected]> Co-authored-by: Kemal Bektas <[email protected]> Improvement on the wat the distance heuristic is calculated Signed-off-by: stevedan <[email protected]> Fix BT.CPP import (ros-navigation#4165) Signed-off-by: Tony Najjar <[email protected]> Update default recommendation from Obstacles to Cost critic in MPPI (ros-navigation#4170) Signed-off-by: Steve Macenski <[email protected]> nav2_controller: add loop rate log (ros-navigation#4171) * update smac_planner README Signed-off-by: ARK3r <[email protected]> * added current controller loop rate logging Signed-off-by: ARK3r <[email protected]> * linting Signed-off-by: ARK3r <[email protected]> * uncrustify lint Signed-off-by: ARK3r <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> * Update nav2_controller/src/controller_server.cpp Signed-off-by: Steve Macenski <[email protected]> --------- Signed-off-by: ARK3r <[email protected]> Signed-off-by: Steve Macenski <[email protected]> Co-authored-by: Steve Macenski <[email protected]> improvement based on feedback Signed-off-by: stevedan <[email protected]>

* behavior_tree: migration to BT.CPP 4.5.x Signed-off-by: Davide Faconti <[email protected]> * fix formatting Signed-off-by: Davide Faconti <[email protected]> * fix lint warning Signed-off-by: Davide Faconti <[email protected]> * remove setStatus(BT::NodeStatus::IDLE) Signed-off-by: Davide Faconti <[email protected]> * handle SKIPPED state Signed-off-by: Davide Faconti <[email protected]> * fix SequenceStar Signed-off-by: Davide Faconti <[email protected]> * add tests Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * fix unit tests Signed-off-by: Davide Faconti <[email protected]> * add emitWakeUpSignal() Signed-off-by: Davide Faconti <[email protected]> * fit test Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * keep resetStatus() in action_node Signed-off-by: Davide Faconti <[email protected]> * add suggestions from peer reviewer Signed-off-by: Davide Faconti <[email protected]> * fix compilation Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]>

* behavior_tree: migration to BT.CPP 4.5.x Signed-off-by: Davide Faconti <[email protected]> * fix formatting Signed-off-by: Davide Faconti <[email protected]> * fix lint warning Signed-off-by: Davide Faconti <[email protected]> * remove setStatus(BT::NodeStatus::IDLE) Signed-off-by: Davide Faconti <[email protected]> * handle SKIPPED state Signed-off-by: Davide Faconti <[email protected]> * fix SequenceStar Signed-off-by: Davide Faconti <[email protected]> * add tests Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * fix unit tests Signed-off-by: Davide Faconti <[email protected]> * add emitWakeUpSignal() Signed-off-by: Davide Faconti <[email protected]> * fit test Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * keep resetStatus() in action_node Signed-off-by: Davide Faconti <[email protected]> * add suggestions from peer reviewer Signed-off-by: Davide Faconti <[email protected]> * fix compilation Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]> Signed-off-by: enricosutera <[email protected]>

* behavior_tree: migration to BT.CPP 4.5.x Signed-off-by: Davide Faconti <[email protected]> * fix formatting Signed-off-by: Davide Faconti <[email protected]> * fix lint warning Signed-off-by: Davide Faconti <[email protected]> * remove setStatus(BT::NodeStatus::IDLE) Signed-off-by: Davide Faconti <[email protected]> * handle SKIPPED state Signed-off-by: Davide Faconti <[email protected]> * fix SequenceStar Signed-off-by: Davide Faconti <[email protected]> * add tests Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * fix unit tests Signed-off-by: Davide Faconti <[email protected]> * add emitWakeUpSignal() Signed-off-by: Davide Faconti <[email protected]> * fit test Signed-off-by: Davide Faconti <[email protected]> * fix Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * remove SequenceStar Signed-off-by: Davide Faconti <[email protected]> * keep resetStatus() in action_node Signed-off-by: Davide Faconti <[email protected]> * add suggestions from peer reviewer Signed-off-by: Davide Faconti <[email protected]> * fix compilation Signed-off-by: Davide Faconti <[email protected]> --------- Signed-off-by: Davide Faconti <[email protected]>

facontidavide changed the title ~~behavior_tree: migration to BT.CPP 4.5.x~~ [DRAFT] behavior_tree: migration to BT.CPP 4.5.x Feb 21, 2024

facontidavide marked this pull request as draft February 21, 2024 09:57

facontidavide added 6 commits February 22, 2024 22:09

behavior_tree: migration to BT.CPP 4.5.x

afe6fb4

Signed-off-by: Davide Faconti <[email protected]>

fix formatting

8221772

Signed-off-by: Davide Faconti <[email protected]>

fix lint warning

ee9351b

Signed-off-by: Davide Faconti <[email protected]>

remove setStatus(BT::NodeStatus::IDLE)

bb735ed

Signed-off-by: Davide Faconti <[email protected]>

handle SKIPPED state

a11ed8c

Signed-off-by: Davide Faconti <[email protected]>

fix SequenceStar

1cf3fb7

Signed-off-by: Davide Faconti <[email protected]>

facontidavide force-pushed the btcpp4_migration branch from a7cfba3 to 1cf3fb7 Compare February 22, 2024 21:09

DaniGarciaLopez mentioned this pull request Feb 26, 2024

Upgrade to Behaviortree.CPP v4 PlanSys2/ros2_planning_system#293

Merged

facontidavide added 2 commits February 27, 2024 09:25

add tests

7f91caa

Signed-off-by: Davide Faconti <[email protected]>

fix

8b07e54

Signed-off-by: Davide Faconti <[email protected]>

facontidavide force-pushed the btcpp4_migration branch from 5942a6f to 8b07e54 Compare February 27, 2024 14:36

fix unit tests

4122287

Signed-off-by: Davide Faconti <[email protected]>

facontidavide marked this pull request as ready for review February 28, 2024 06:39

facontidavide changed the title ~~[DRAFT] behavior_tree: migration to BT.CPP 4.5.x~~ behavior_tree: migration to BT.CPP 4.5.x Feb 28, 2024

add emitWakeUpSignal()

76a2b67

Signed-off-by: Davide Faconti <[email protected]>

facontidavide force-pushed the btcpp4_migration branch from e72e99e to 76a2b67 Compare February 28, 2024 14:54

fit test

517c90f

Signed-off-by: Davide Faconti <[email protected]>

fix

7f2d21a

Signed-off-by: Davide Faconti <[email protected]>

SteveMacenski requested changes Feb 28, 2024

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facontidavide added 2 commits February 29, 2024 11:15

remove SequenceStar

a53373c

Signed-off-by: Davide Faconti <[email protected]>

remove SequenceStar

1e988d7

Signed-off-by: Davide Faconti <[email protected]>

SteveMacenski reviewed Feb 29, 2024

View reviewed changes

nav2_behavior_tree/plugins/decorator/goal_updated_controller.cpp Show resolved Hide resolved

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keep resetStatus() in action_node

6cfd09e

Signed-off-by: Davide Faconti <[email protected]>

SteveMacenski reviewed Feb 29, 2024

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add suggestions from peer reviewer

6719c72

Signed-off-by: Davide Faconti <[email protected]>

fix compilation

dad85ca

Signed-off-by: Davide Faconti <[email protected]>

SteveMacenski approved these changes Feb 29, 2024

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SteveMacenski merged commit efd777e into ros-navigation:main Feb 29, 2024
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behavior_tree: migration to BT.CPP 4.5.x #4128

behavior_tree: migration to BT.CPP 4.5.x #4128

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behavior_tree: migration to BT.CPP 4.5.x #4128

behavior_tree: migration to BT.CPP 4.5.x #4128

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Description of documentation updates required from your changes

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