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Change to btcpp_v4 by renan028 · Pull Request #24 · BehaviorTree/BehaviorTree.ROS · GitHub

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Change to btcpp_v4 #24

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Change to btcpp_v4 #24

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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,15 +1,15 @@
cmake_minimum_required(VERSION 3.5.1) # version on Ubuntu Trusty
project(behaviortree_ros)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

######################################################

set(ROS_DEPENDENCIES
roscpp std_msgs
behaviortree_cpp_v3
behaviortree_cpp
actionlib_msgs
actionlib
message_generation)
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7 changes: 3 additions & 4 deletions include/behaviortree_ros/bt_action_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,10 @@
#ifndef BEHAVIOR_TREE_BT_ACTION_NODE_HPP_
#define BEHAVIOR_TREE_BT_ACTION_NODE_HPP_

#include <behaviortree_cpp_v3/action_node.h>
#include <behaviortree_cpp_v3/bt_factory.h>
#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>
#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <ros/ros.h>

namespace BT
{
Expand Down Expand Up @@ -100,7 +100,6 @@ class RosActionNode : public BT::ActionNodeBase
{
action_client_->cancelGoal();
}
setStatus(NodeStatus::IDLE);
}

protected:
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4 changes: 2 additions & 2 deletions include/behaviortree_ros/bt_service_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@
#ifndef BEHAVIOR_TREE_BT_SERVICE_NODE_HPP_
#define BEHAVIOR_TREE_BT_SERVICE_NODE_HPP_

#include <behaviortree_cpp_v3/action_node.h>
#include <behaviortree_cpp_v3/bt_factory.h>
#include <behaviortree_cpp/action_node.h>
#include <behaviortree_cpp/bt_factory.h>
#include <ros/ros.h>
#include <ros/service_client.h>

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22 changes: 8 additions & 14 deletions package.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
<package>
<package format="2">
<name>behaviortree_ros</name>
<version>0.0.1</version>
<description>
Expand All @@ -11,20 +11,14 @@

<author>Davide Faconti</author>

<build_depend>roscpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>behaviortree_cpp_v3</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
<depend>behaviortree_cpp</depend>
<depend>actionlib</depend>
<depend>actionlib_msgs</depend>

<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>behaviortree_cpp_v3</run_depend>
<run_depend>actionlib</run_depend>
<run_depend>actionlib_msgs</run_depend>

<build_depend>message_generation</build_depend>
<run_depend>message_generation</run_depend>
<exec_depend>message_runtime</exec_depend>
<depend>message_generation</depend>

<buildtool_depend>catkin</buildtool_depend>

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8 changes: 4 additions & 4 deletions test/test_bt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,9 +157,9 @@ RosActionNode<behaviortree_ros::FibonacciAction>(handle, name, conf) {}
//-----------------------------------------------------

// Simple tree, used to execute once each action.
static const char* xml_text = R"(
<root >
<BehaviorTree>
static const char* xml_text = R"(
<root BTCPP_format="4" >
<BehaviorTree ID="MainTree">
<Sequence>
<AddTwoInts service_name = "add_two_ints"
first_int = "3" second_int = "4"
Expand Down Expand Up @@ -196,7 +196,7 @@ int main(int argc, char **argv)
while( ros::ok() && (status == NodeStatus::IDLE || status == NodeStatus::RUNNING))
{
ros::spinOnce();
status = tree.tickRoot();
status = tree.tickExactlyOnce();

rafa-martin May 29, 2024

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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

What is the main difference between v3 and v4 in this topic?

renan028 May 29, 2024

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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

In bt.v4, tickExactlyOnce calls tickRoot(EXACTLY_ONCE, std::chrono::milliseconds(0));
which will behave the same way tickRoot in bt.v3

In bt.cpp 4 you have other options to tick (e.g. TickOption::WHILE_RUNNING); usage tree.tickRootWhileRunning()

rafa-martin May 29, 2024

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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

Thanks for answer. Is good to know, but there are some questions related.

About tickOnce method, that implements tickRoot(ONCE_UNLESS_WOKEN_UP, 0s)?
What happens if there is a BT node that emit a wake signal? will it needs to wait for the loop rate?

renan028 May 30, 2024

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Choose a reason Spam Abuse Off Topic Outdated Duplicate Resolved Low Quality

yes, that is why you have another inner loop:

  while(status == NodeStatus::IDLE ||
        (opt == TickOption::WHILE_RUNNING && status == NodeStatus::RUNNING))
  {
    status = rootNode()->executeTick();

    // Inner loop. The previous tick might have triggered the wake-up
    // in this case, unless TickOption::EXACTLY_ONCE, we tick again
    while(opt != TickOption::EXACTLY_ONCE && status == NodeStatus::RUNNING &&
          wake_up_->waitFor(std::chrono::milliseconds(0)))
    {
      status = rootNode()->executeTick();
    }

if you use tickExactlyOnce it will wait the loop rate to tick again;
tickOnce will tick again if you have a wake_up signal.

StatefulActionNode and Threaded ones may emit a wake_up signal.
You can check the SleepNode for example
std::cout << status << std::endl;
ros::Duration sleep_time(0.01);
sleep_time.sleep();
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