united rbs_interface with rbs_bt_executor

.gitlab-ci-local/builds/.docker

@@ -0,0 +1 @@
+Subproject commit 997acf2a9353b0015523577b1525579590dce3fb

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)
+add_executable(bt_exec src/BTExec.cpp)
-list(APPEND plugin_libs rbs_act)
+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)

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": []
 }

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
     )

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",
+    #     package = "rbs_bt_executor",
-    #     executable = "bt_engine",
+    #     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}]
     )

rbs_bt_executor/package.xml

@@ -8,10 +8,14 @@
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclpy</depend>
   <depend>rbs_utils</depend>
   <depend>rbs_skill_interfaces</depend>
   <depend>env_manager_interfaces</depend>
   <depend>behaviortree_ros2</depend>
+  <depend>behaviortree_cpp</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

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")

rbs_interface/CMakeLists.txt

@@ -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()

rbs_interface/package.xml

@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>rbs_interface</name>
-  <version>0.0.1</version>
-  <description>The interface node</description>
-  <maintainer email="shaniks77s@gmail.com">shalenikol</maintainer>
-  <license>Apache License 2.0</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_python</buildtool_depend>
-
-  <depend>rclpy</depend>
-  <depend>rclcpp</depend>
-  <depend>image_transport</depend>
-  <depend>cv_bridge</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>rbs_skill_interfaces</depend>
-  <depend>behaviortree_ros2</depend>
-  
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>