diff --git a/.gitlab-ci-local/builds/.docker b/.gitlab-ci-local/builds/.docker new file mode 160000 index 0000000..997acf2 --- /dev/null +++ b/.gitlab-ci-local/builds/.docker @@ -0,0 +1 @@ +Subproject commit 997acf2a9353b0015523577b1525579590dce3fb diff --git a/rbs_bt_executor/CMakeLists.txt b/rbs_bt_executor/CMakeLists.txt index 6600143..d9a29b7 100644 --- a/rbs_bt_executor/CMakeLists.txt +++ b/rbs_bt_executor/CMakeLists.txt @@ -6,6 +6,8 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") endif() find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) +find_package(rclpy REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) find_package(geometry_msgs REQUIRED) @@ -17,6 +19,7 @@ find_package(ament_index_cpp REQUIRED) find_package(rbs_skill_interfaces REQUIRED) # find_package(behavior_tree REQUIRED) find_package(behaviortree_ros2 REQUIRED) +find_package(behaviortree_cpp REQUIRED) find_package(control_msgs REQUIRED) find_package(lifecycle_msgs REQUIRED) find_package(rcl_interfaces REQUIRED) @@ -41,6 +44,7 @@ set(dependencies rbs_skill_interfaces # behavior_tree behaviortree_ros2 + btcpp_ros2_interfaces control_msgs lifecycle_msgs rcl_interfaces @@ -85,11 +89,14 @@ list(APPEND plugin_libs rbs_skill_move_topose_array_bt_action_client) add_library(rbs_get_workspace SHARED src/GetWorkspace.cpp) list(APPEND plugin_libs rbs_get_workspace) +add_library(rbs_act SHARED src/rbsBTAction.cpp) +list(APPEND plugin_libs rbs_act) + add_executable(rbs_bt_executor src/TreeRunner.cpp) ament_target_dependencies(rbs_bt_executor ${dependencies}) -add_library(rbs_act SHARED src/rbsBTAction.cpp) -list(APPEND plugin_libs rbs_act) +add_executable(bt_exec src/BTExec.cpp) +ament_target_dependencies(bt_exec ${dependencies}) foreach(bt_plugin ${plugin_libs}) ament_target_dependencies(${bt_plugin} ${dependencies}) @@ -98,7 +105,7 @@ endforeach() install(DIRECTORY launch bt_trees config DESTINATION share/${PROJECT_NAME}) -# INSTAL PLUGIN TARGETS https://github.com/BehaviorTree/BehaviorTree.CPP/pull/804 +# INSTALL PLUGIN TARGETS https://github.com/BehaviorTree/BehaviorTree.CPP/pull/804 install(TARGETS ${plugin_libs} ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins @@ -106,14 +113,22 @@ install(TARGETS RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins ) - install(TARGETS - rbs_bt_executor + rbs_bt_executor bt_exec ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME} ) +# Install Python modules +ament_python_install_package(${PROJECT_NAME}) + +# Install Python executables +install(PROGRAMS + scripts/rbs_interface.py + scripts/bt_param.py + DESTINATION lib/${PROJECT_NAME} +) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) diff --git a/rbs_interface/config/interface.json b/rbs_bt_executor/config/interface.json similarity index 60% rename from rbs_interface/config/interface.json rename to rbs_bt_executor/config/interface.json index c3184e6..a594db6 100644 --- a/rbs_interface/config/interface.json +++ b/rbs_bt_executor/config/interface.json @@ -3,15 +3,11 @@ "name": "Robossembler", "version": "1.0", "format": "1" }, "Module": { - "name": "Interface", "description": "Interface node for the Robossembler skills" + "name": "Interface", "description": "Interface node for the Robossembler skills", "node_name": "rbs_interface" }, "Launch": { - "package": "rbs_interface", + "package": "rbs_bt_executor", "executable": "rbs_interface.py", "param": ["bt_path"] - }, - "ROS2": { - "node_name": "rbs_interface", "comment": "!!! no change !!!" - }, - "Settings": [] + } } diff --git a/rbs_interface/launch/interface.launch.py b/rbs_bt_executor/launch/interface.launch.py similarity index 98% rename from rbs_interface/launch/interface.launch.py rename to rbs_bt_executor/launch/interface.launch.py index ae66c0f..9527d4e 100644 --- a/rbs_interface/launch/interface.launch.py +++ b/rbs_bt_executor/launch/interface.launch.py @@ -51,7 +51,7 @@ def launch_setup(context, *args, **kwargs): skills = get_skill_list_(bt_path) rbs_interface = Node( - package="rbs_interface", + package="rbs_bt_executor", executable="rbs_interface.py", # parameters = [{"bt_path": bt_path}] # can be included as default path ) diff --git a/rbs_bt_executor/launch/rbs_bt_web.launch.py b/rbs_bt_executor/launch/rbs_bt_web.launch.py index cd16d3b..cec9d92 100644 --- a/rbs_bt_executor/launch/rbs_bt_web.launch.py +++ b/rbs_bt_executor/launch/rbs_bt_web.launch.py @@ -5,50 +5,37 @@ @shalenikol release 0.1 @shalenikol release 0.2 BT v.4 """ -import os -# import json - from launch import LaunchDescription from launch_ros.actions import Node from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler from launch.substitutions import LaunchConfiguration from launch.event_handlers import OnExecutionComplete -# FILE_BT = "bt.xml" - def launch_setup(context, *args, **kwargs): # Initialize Arguments bt_path = LaunchConfiguration("bt_path") bt_path = bt_path.perform(context) # rbs_bt = Node( - # package = "behavior_tree", - # executable = "bt_engine", + # package = "rbs_bt_executor", + # executable = "rbs_bt_executor", # parameters = [ - # {"bt_file_path": os.path.join(bt_path, FILE_BT)}, - # {"plugins": ["rbs_interface"]} + # { + # "plugins": ["rbs_bt_executor/bt_plugins"] + # # "behavior_trees": [bt_path] + # } # ] # ) - rbs_bt = Node( - package = "rbs_bt_executor", - executable = "rbs_bt_executor", - parameters = [ - { - "plugins": ["rbs_bt_executor/bt_plugins"] - # "behavior_trees": [bt_path] - } - ] - ) bt_exec = Node( - package="rbs_interface", + package="rbs_bt_executor", executable="bt_exec", arguments=[bt_path] # prefix=['gdbserver localhost:3000'], ) bt_param = Node( - package="rbs_interface", + package="rbs_bt_executor", executable="bt_param.py", parameters=[{"bt_path": bt_path}] ) diff --git a/rbs_bt_executor/package.xml b/rbs_bt_executor/package.xml index 5b69383..4dc51c1 100644 --- a/rbs_bt_executor/package.xml +++ b/rbs_bt_executor/package.xml @@ -8,10 +8,14 @@ TODO: License declaration ament_cmake + ament_cmake_python + + rclpy rbs_utils rbs_skill_interfaces env_manager_interfaces behaviortree_ros2 + behaviortree_cpp ament_lint_auto ament_lint_common diff --git a/rbs_interface/rbs_interface/__init__.py b/rbs_bt_executor/rbs_bt_executor/__init__.py similarity index 100% rename from rbs_interface/rbs_interface/__init__.py rename to rbs_bt_executor/rbs_bt_executor/__init__.py diff --git a/rbs_interface/scripts/bt_param.py b/rbs_bt_executor/scripts/bt_param.py similarity index 100% rename from rbs_interface/scripts/bt_param.py rename to rbs_bt_executor/scripts/bt_param.py diff --git a/rbs_interface/scripts/rbs_interface.py b/rbs_bt_executor/scripts/rbs_interface.py similarity index 95% rename from rbs_interface/scripts/rbs_interface.py rename to rbs_bt_executor/scripts/rbs_interface.py index 31735f3..8ea70c0 100755 --- a/rbs_interface/scripts/rbs_interface.py +++ b/rbs_bt_executor/scripts/rbs_interface.py @@ -23,11 +23,9 @@ from lifecycle_msgs.srv import ChangeState, GetState from lifecycle_msgs.msg import Transition, State from rbs_skill_interfaces.srv import RbsBt from rbs_skill_interfaces.action import RbsBt as RbsBtAction -# from btcpp_ros2_interfaces.action import ExecuteTree # from rclpy.parameter_client import AsyncParameterClient # only Iron -# BT_SERVER = "bt_execution" CONDITION_SRV_NAME = "/condition" BT_PARAM = "bt_path" NODE_NAME = "rbs_interface" @@ -35,7 +33,7 @@ SERVICE_NAME = "rbs_interface_s" SERVER_NAME = "rbs_interface_a" FILE_SKILLS = "skills.json" PARAM_SUFFIX = "_cfg" -KEY_BTPARAM = "BTAction" # TODO "bt_param" +KEY_BTPARAM = "BTAction" class rbsInterface(Node): def __init__(self, node_name): @@ -50,7 +48,6 @@ class rbsInterface(Node): self._service = self.create_service(RbsBt, SERVICE_NAME, self.service_callback, callback_group=self.cb_group) # for Action self._action = ActionServer(self, RbsBtAction, SERVER_NAME, self.action_callback, callback_group=self.cb_group) - # self.bt_client = ActionClient(self, ExecuteTree, BT_SERVER, callback_group=self.cb_group) # self.client = AsyncParameterClient(self.client_node, 'test_parameter_client_target') # only Iron self.add_on_set_parameters_callback(self._on_set_btpath_param) @@ -58,7 +55,7 @@ class rbsInterface(Node): def get_transfer_path(self): if self.bt_path: return self.bt_path - return os.path.join(get_package_share_directory("rbs_interface"), "config") + return os.path.join(get_package_share_directory("rbs_bt_executor"), "config") def _on_set_btpath_param(self, parameter_list): for parameter in parameter_list: @@ -95,7 +92,6 @@ class rbsInterface(Node): self.executor.spin_until_future_complete(future) res = future.result() - # self.get_logger().info(f"{res}") return res.results[0].successful def _deserialize(self, file_path: str, sid: str): @@ -108,7 +104,6 @@ class rbsInterface(Node): if skill["sid"] == sid: return skill assert False, f"Error: sid not valid '{sid}'" - # return {"result": f"Error: sid not valid '{sid}'"} def _load_config(self, sid: str): p = os.path.join(self.get_transfer_path(), FILE_SKILLS) # action+".json") diff --git a/rbs_interface/src/BTExec.cpp b/rbs_bt_executor/src/BTExec.cpp similarity index 100% rename from rbs_interface/src/BTExec.cpp rename to rbs_bt_executor/src/BTExec.cpp diff --git a/rbs_interface/CMakeLists.txt b/rbs_interface/CMakeLists.txt deleted file mode 100644 index 7a5ba4b..0000000 --- a/rbs_interface/CMakeLists.txt +++ /dev/null @@ -1,70 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(rbs_interface) - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_python REQUIRED) -find_package(rclpy REQUIRED) -find_package(rclcpp REQUIRED) -find_package(image_transport REQUIRED) -find_package(cv_bridge REQUIRED) -find_package(sensor_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(rbs_skill_interfaces REQUIRED) -find_package(PCL 1.12 REQUIRED) -find_package(pcl_conversions REQUIRED) -find_package(pcl_ros REQUIRED) -# find_package(tf2_ros REQUIRED) -# find_package(tf2_msgs REQUIRED) -find_package(visualization_msgs REQUIRED) -find_package(behaviortree_ros2 REQUIRED) -find_package(btcpp_ros2_interfaces REQUIRED) - -# Install Python modules -ament_python_install_package(${PROJECT_NAME}) - -# Install Python executables -install(PROGRAMS - scripts/rbs_interface.py - scripts/bt_param.py - DESTINATION lib/${PROJECT_NAME} -) - -set(THIS_PACKAGE_DEPS - rbs_skill_interfaces - behaviortree_ros2 - # std_msgs - # std_srvs - btcpp_ros2_interfaces ) - -add_executable(bt_exec src/BTExec.cpp) -ament_target_dependencies(bt_exec ${THIS_PACKAGE_DEPS}) - -install(TARGETS - bt_exec - DESTINATION lib/${PROJECT_NAME} - ) - -install( - DIRECTORY launch config - DESTINATION share/${PROJECT_NAME} -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/rbs_interface/package.xml b/rbs_interface/package.xml deleted file mode 100644 index ad45f46..0000000 --- a/rbs_interface/package.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - - rbs_interface - 0.0.1 - The interface node - shalenikol - Apache License 2.0 - - ament_cmake - ament_cmake_python - - rclpy - rclcpp - image_transport - cv_bridge - sensor_msgs - std_msgs - rbs_skill_interfaces - behaviortree_ros2 - - ament_lint_auto - ament_lint_common - - - ament_cmake - -