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Create a new branch for usage with BT V3 (Humble package) #4

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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -17,7 +17,7 @@ endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(behaviortree_cpp REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
Expand All @@ -41,7 +41,7 @@ set(dependencies
nav2_msgs
std_srvs
tf2_ros
behaviortree_cpp
behaviortree_cpp_v3
)

set(executable_name behavior_tree_example)
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4 changes: 2 additions & 2 deletions include/ros2_behavior_tree_example/bt_ros_node.hpp
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Expand Up @@ -6,8 +6,8 @@
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "rclcpp_lifecycle/lifecycle_publisher.hpp"

#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "behaviortree_cpp_v3/bt_factory.h"

namespace polymath
{
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4 changes: 2 additions & 2 deletions include/ros2_behavior_tree_example/plugins/log_status_bt_node.hpp
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Expand Up @@ -2,7 +2,7 @@
#define LOG_STATUS_BT_NODE_H_

#include <string>
#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "std_msgs/msg/int32.hpp"
Expand All @@ -23,7 +23,7 @@ namespace bt_ros_example
/// @param action_name Name for the XML tag for this node
/// @param conf BT Node Configuration
///
LogStatusNode(const std::string & action_name, const BT::NodeConfig & conf);
LogStatusNode(const std::string & action_name, const BT::NodeConfiguration & conf);

~LogStatusNode();

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4 changes: 2 additions & 2 deletions include/ros2_behavior_tree_example/plugins/ping_bt_node.hpp
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@@ -1,7 +1,7 @@
#ifndef PING_BT_NODE_H_
#define PING_BT_NODE_H_

#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "std_msgs/msg/int32.hpp"
Expand All @@ -23,7 +23,7 @@ namespace bt_ros_example
/// @param action_name Name for the XML tag for this node
/// @param conf BT Node Configuration
///
PingNode(const std::string & action_name, const BT::NodeConfig & conf);
PingNode(const std::string & action_name, const BT::NodeConfiguration & conf);
~PingNode();

///
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4 changes: 2 additions & 2 deletions include/ros2_behavior_tree_example/plugins/pong_received_bt_node.hpp
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@@ -1,7 +1,7 @@
#ifndef PONG_RECEIVED_NODE_H_
#define PONG_RECEIVED_NODE_H_

#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "std_msgs/msg/int32.hpp"
Expand All @@ -22,7 +22,7 @@ namespace bt_ros_example
/// @param condition_name Name for the XML tag for this node
/// @param conf BT Node Configuration
///
PongReceivedNode(const std::string & condition_name, const BT::NodeConfig & conf);
PongReceivedNode(const std::string & condition_name, const BT::NodeConfiguration & conf);
PongReceivedNode() = delete;
~PongReceivedNode();

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4 changes: 2 additions & 2 deletions include/ros2_behavior_tree_example/plugins/pong_received_executor_bt_node.hpp
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@@ -1,7 +1,7 @@
#ifndef PONG_RECEIVED_EXECUTOR_NODE_
#define PONG_RECEIVED_EXECUTOR_NODE_

#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "std_msgs/msg/int32.hpp"
Expand All @@ -22,7 +22,7 @@ namespace bt_ros_example
/// @param condition_name Name for the XML tag for this node
/// @param conf BT Node Configuration
///
PongReceivedExecutorNode(const std::string & condition_name, const BT::NodeConfig & conf);
PongReceivedExecutorNode(const std::string & condition_name, const BT::NodeConfiguration & conf);
PongReceivedExecutorNode() = delete;
~PongReceivedExecutorNode();

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7 changes: 4 additions & 3 deletions package.xml
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Expand Up @@ -11,15 +11,16 @@
<buildtool_depend>ament_cmake</buildtool_depend>

<build_depend>ament_cmake</build_depend>
<build_depend>behaviortree_cpp</build_depend>
<build_depend>behaviortree_cpp_v3</build_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_action</build_depend>
<build_depend>rclcpp_lifecycle</build_depend>
<build_depend>rclcpp_components</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>lifecycle_msgs</build_depend>

<exec_depend>behaviortree_cpp</exec_depend>
<build_depend>nav2_msgs</build_depend>

<exec_depend>behaviortree_cpp_v3</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_action</exec_depend>
<exec_depend>rclcpp_lifecycle</exec_depend>
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4 changes: 2 additions & 2 deletions src/bt_ros_node.cpp
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Expand Up @@ -6,7 +6,7 @@
#include "ros2_behavior_tree_example/plugins/ping_bt_node.hpp"
#include "ros2_behavior_tree_example/plugins/log_status_bt_node.hpp"

#include "behaviortree_cpp/blackboard.h"
#include "behaviortree_cpp_v3/blackboard.h"
#include "rclcpp/publisher.hpp"

#include "std_msgs/msg/string.hpp"
Expand Down Expand Up @@ -124,7 +124,7 @@ namespace bt_ros_example
BtRosNode::timer_callback()
{
RCLCPP_INFO(this->get_logger(), "Ticking the tree");
tree_.tickOnce();
tree_.tickRoot();
return;
}
}
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2 changes: 1 addition & 1 deletion src/plugins/log_status_bt_node.cpp
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Expand Up @@ -4,7 +4,7 @@ namespace polymath
{
namespace bt_ros_example
{
LogStatusNode::LogStatusNode(const std::string & action_name, const BT::NodeConfig & conf)
LogStatusNode::LogStatusNode(const std::string & action_name, const BT::NodeConfiguration & conf)
: BT::SyncActionNode(action_name, conf),
print_ping_pong_(false)
{
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2 changes: 1 addition & 1 deletion src/plugins/ping_bt_node.cpp
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Expand Up @@ -6,7 +6,7 @@ namespace polymath
namespace bt_ros_example
{

PingNode::PingNode(const std::string &action_name, const BT::NodeConfig &conf)
PingNode::PingNode(const std::string &action_name, const BT::NodeConfiguration &conf)
: BT::StatefulActionNode(action_name, conf),
pub_topic_("outgoing_ping")
{
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2 changes: 1 addition & 1 deletion src/plugins/pong_received_bt_node.cpp
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Expand Up @@ -4,7 +4,7 @@ namespace polymath
{
namespace bt_ros_example
{
PongReceivedNode::PongReceivedNode(const std::string & condition_name, const BT::NodeConfig & conf)
PongReceivedNode::PongReceivedNode(const std::string & condition_name, const BT::NodeConfiguration & conf)
: BT::ConditionNode(condition_name, conf),
sub_topic_("incoming_pong"),
pong_id_received_(-1)
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2 changes: 1 addition & 1 deletion src/plugins/pong_received_executor_bt_node.cpp
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Expand Up @@ -4,7 +4,7 @@ namespace polymath
{
namespace bt_ros_example
{
PongReceivedExecutorNode::PongReceivedExecutorNode(const std::string & condition_name, const BT::NodeConfig & conf)
PongReceivedExecutorNode::PongReceivedExecutorNode(const std::string & condition_name, const BT::NodeConfiguration & conf)
: BT::ConditionNode(condition_name, conf),
sub_topic_("incoming_pong"),
pong_id_received_(-1)
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