Action Server to execute trees - #60
facontidavide merged 12 commits into
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MarqRazz
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I have several fixes to get this working and include some basic documentation. Should have them up later today.
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What do you think about moving this file to the behaviortree_ros2 package and renaming it to bt_server or something along those lines? For the most part people should be able to use this node to run the library and it seems weird to have launch files calling <node pkg="btcpp_ros2_samples" exec="sample_bt_executor"> when it's a very capable node and not just a sample.
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I added some basic docs and cleaned up a few things so the examples run, let me know what you think. I was traveling most of today but will try and look into the other changes you made later. |
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| RCLCPP_INFO(kLogger, "Loaded ROS Plugin: %s", filename.c_str()); | ||
| } | ||
| catch(const std::exception& e) | ||
| { | ||
| RCLCPP_ERROR(kLogger, "Failed to load ROS Plugin: %s \n %s", filename.c_str(), | ||
| e.what()); |
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We can drop ROS from these prints now that it does both types.
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| TreeExecutionServer::~TreeExecutionServer() | ||
| {} |
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Do we need to handle joining and cleaning up the action_thread here?
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I have a fix for pre-commit and minor changes to the docs if you are okay with me pushing it. |
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I was going to merge it... right now! Waiting for CI to turn green. Thanks! |
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I will wait for your changes to the docs to be pushed |
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Thanks for all the help here @facontidavide. My changes were to fix the file permissions (which you fixed) and some minor white space but this looks good as is.
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Thanks to the hard work of @MarqRazz , we have here a first draft of a "standard" action server to execute trees on demand.
Virtual methods add a number of customization points, that are hopefully general enough to cover 99% of the cases.