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Allow to set server_name/service_name in RegisterRosAction/RegisterRosService by panwauu · Pull Request #16 · BehaviorTree/BehaviorTree.ROS · GitHub

/ BehaviorTree.ROS Public

Allow to set server_name/service_name in RegisterRosAction/RegisterRosService #16

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Allow to set server_name/service_name in RegisterRosAction/RegisterRosService #16

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b885865
Add to Action constructor
panwauu May 20, 2022
8ebdfbe
Add to RegisterRosAction
panwauu May 20, 2022
5e87f1d
Use parameter overloading - leads to more duplication in RegisterRosA…
panwauu May 20, 2022
c95a387
Revert and add new implementation in RegisterRosAction
panwauu May 20, 2022
6eff47f
First working version
May 24, 2022
9feac42
Refactored version of bt_action_node
May 24, 2022
01dd884
Add default_service_name to bt_service_node
May 24, 2022
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18 changes: 15 additions & 3 deletions include/behaviortree_ros/bt_action_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -169,10 +169,22 @@ class RosActionNode : public BT::ActionNodeBase
template <class DerivedT> static
void RegisterRosAction(BT::BehaviorTreeFactory& factory,
const std::string& registration_ID,
ros::NodeHandle& node_handle)
ros::NodeHandle& node_handle,
const std::string& default_server_name = {} )
{
NodeBuilder builder = [&node_handle](const std::string& name, const NodeConfiguration& config) {
return std::make_unique<DerivedT>(node_handle, name, config );
NodeBuilder builder = [&node_handle, default_server_name](const std::string& name, const NodeConfiguration& config) {
auto server_name_port = config.input_ports.find("server_name");
if (server_name_port != config.input_ports.end() && !server_name_port->second.empty()) {
return std::make_unique<DerivedT>(node_handle, name, config );
}

if (!default_server_name.empty()) {
auto new_config = config;
new_config.input_ports["server_name"] = default_server_name;
return std::make_unique<DerivedT>(node_handle, name, new_config );
}

throw std::runtime_error("server_name not given as port or default in RegisterRosAction");
};

TreeNodeManifest manifest;
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18 changes: 15 additions & 3 deletions include/behaviortree_ros/bt_service_node.h
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Expand Up @@ -116,10 +116,22 @@ class RosServiceNode : public BT::SyncActionNode
template <class DerivedT> static
void RegisterRosService(BT::BehaviorTreeFactory& factory,
const std::string& registration_ID,
ros::NodeHandle& node_handle)
ros::NodeHandle& node_handle,
const std::string& default_service_name = {} )
{
NodeBuilder builder = [&node_handle](const std::string& name, const NodeConfiguration& config) {
return std::make_unique<DerivedT>(node_handle, name, config );
NodeBuilder builder = [&node_handle, default_service_name](const std::string& name, const NodeConfiguration& config) {
auto service_name_port = config.input_ports.find("service_name");
if (service_name_port != config.input_ports.end() && !service_name_port->second.empty()) {
return std::make_unique<DerivedT>(node_handle, name, config );
}

if (!default_service_name.empty()) {
auto new_config = config;
new_config.input_ports["service_name"] = default_service_name;
return std::make_unique<DerivedT>(node_handle, name, new_config );
}

throw std::runtime_error("service_name not given as port or default in RegisterRosService");
};

TreeNodeManifest manifest;
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10 changes: 4 additions & 6 deletions test/test_bt.cpp
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Expand Up @@ -161,15 +161,13 @@ RosActionNode<behaviortree_ros::FibonacciAction>(handle, name, conf) {}
<root >
<BehaviorTree>
<Sequence>
<AddTwoInts service_name = "add_two_ints"
first_int = "3" second_int = "4"
<AddTwoInts first_int = "3" second_int = "4"
sum = "{add_two_result}" />
<PrintValue message="{add_two_result}"/>

<RetryUntilSuccessful num_attempts="4">
<Timeout msec="300">
<Fibonacci server_name="fibonacci" order="5"
result="{fibonacci_result}" />
<Fibonacci order="5" result="{fibonacci_result}" />
</Timeout>
</RetryUntilSuccessful>
<PrintValue message="{fibonacci_result}"/>
Expand All @@ -186,8 +184,8 @@ int main(int argc, char **argv)
BehaviorTreeFactory factory;

factory.registerNodeType<PrintValue>("PrintValue");
RegisterRosService<AddTwoIntsAction>(factory, "AddTwoInts", nh);
RegisterRosAction<FibonacciServer>(factory, "Fibonacci", nh);
RegisterRosService<AddTwoIntsAction>(factory, "AddTwoInts", nh, "add_two_ints");
RegisterRosAction<FibonacciServer>(factory, "Fibonacci", nh, "fibonacci");

auto tree = factory.createTreeFromText(xml_text);

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