merge upstream changes

.clang-format

@@ -0,0 +1,68 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: BeforeComma
+BinPackParameters: true
+ColumnLimit: 90
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+ReflowComments: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true',
+    AfterControlStatement: 'true',
+    AfterEnum : 'true',
+    AfterFunction : 'true',
+    AfterNamespace : 'true',
+    AfterStruct : 'true',
+    AfterUnion : 'true',
+    BeforeCatch : 'true',
+    BeforeElse : 'true',
+    IndentBraces : 'false',
+    SplitEmptyFunction: 'false'
+}
+...

.github/workflows/pre-commit.yaml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [master]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/action@v3.0.1

.pre-commit-config.yaml

@@ -0,0 +1,44 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+exclude: ^3rdparty/|3rdparty|^include/behaviortree_cpp/contrib/
+repos:
+
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+        exclude_types: [svg]
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [svg]
+      - id: fix-byte-order-marker
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']

LICENSE

@@ -202,4 +202,3 @@ distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
-

README.md

@@ -5,6 +5,7 @@ This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP togeth
 
 In particular, it provides a standard way to implement:
 
+- Behavior Tree Executor with ROS Action interface.
 - Action clients.
 - Service Clients.
 - Topic Subscribers.
@@ -15,9 +16,15 @@ Our main goals are:
 - to minimize the amount of boilerplate.
 - to make asynchronous Actions non-blocking.
 
+# Documentation
+
+- [ROS Behavior Wrappers](behaviortree_ros2/ros_behavior_wrappers.md)
+- [TreeExecutionServer](behaviortree_ros2/tree_execution_server.md)
+- [Sample Behaviors](btcpp_ros2_samples/README.md)
+
 Note that this library is compatible **only** with:
 
-- **BT.CPP** 4.1 or newer.
+- **BT.CPP** 4.6 or newer.
 - **ROS2** Humble or newer.
 
 Additionally, check **plugins.hpp** to see how to learn how to
@@ -26,8 +33,6 @@ wrap your Nodes into plugins that can be loaded at run-time.
 
 ## Acknowledgements
 
-A lot of code is either inspired or copied from [Nav2](https://navigation.ros.org/).
+A lot of code is either inspired or copied from [Nav2](https://docs.nav2.org/).
 
 For this reason, we retain the same license and copyright.
-
-

behaviortree_ros2/CMakeLists.txt

@@ -3,32 +3,57 @@ project(behaviortree_ros2)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 set(THIS_PACKAGE_DEPS
     rclcpp
     rclcpp_action
     ament_index_cpp
-    behaviortree_cpp)
+    behaviortree_cpp
+    btcpp_ros2_interfaces
+    generate_parameter_library
+    )
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED )
-find_package(rclcpp_action REQUIRED )
-find_package(behaviortree_cpp REQUIRED )
-find_package(ament_index_cpp REQUIRED)
-
-# This is compiled only to check if there are errors in the header file
-# library will not be exported
-include_directories(include)
-add_library(${PROJECT_NAME} src/bt_ros2.cpp)
+
+foreach(PACKAGE ${THIS_PACKAGE_DEPS})
+    find_package(${PACKAGE} REQUIRED )
+endforeach()
+
+
+generate_parameter_library(
+    bt_executor_parameters
+    src/bt_executor_parameters.yaml)
+
+add_library(${PROJECT_NAME}
+    src/bt_ros2.cpp
+    src/bt_utils.cpp
+    src/tree_execution_server.cpp )
+
 ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_DEPS})
 
+target_include_directories(${PROJECT_NAME} PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(${PROJECT_NAME}  bt_executor_parameters)
+
+
 ######################################################
 # INSTALL
 
-install(DIRECTORY include/  DESTINATION include/) 
-        
-ament_export_include_directories(include)
+install(DIRECTORY include/  DESTINATION include/)
+
+ament_export_targets(${PROJECT_NAME}Targets  HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_DEPS})
 
+install(
+  TARGETS ${PROJECT_NAME} bt_executor_parameters
+  EXPORT ${PROJECT_NAME}Targets
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME})
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
 ament_package()

behaviortree_ros2/bt_executor_parameters.md

@@ -0,0 +1,74 @@
+# Bt Server Parameters
+
+Default Config
+```yaml
+bt_server:
+  ros__parameters:
+    action_name: bt_execution
+    behavior_trees: '{}'
+    groot2_port: 1667.0
+    plugins: '{}'
+    ros_plugins_timeout: 1000.0
+    tick_frequency: 100.0
+
+```
+
+## action_name
+
+The name the Action Server takes requests from
+
+* Type: `string`
+* Default Value: "bt_execution"
+* Read only: True
+
+## tick_frequency
+
+Frequency in Hz to tick() the Behavior tree at
+
+* Type: `int`
+* Default Value: 100
+* Read only: True
+
+*Constraints:*
+ - parameter must be within bounds 1
+
+## groot2_port
+
+Server port value to publish Groot2 messages on
+
+* Type: `int`
+* Default Value: 1667
+* Read only: True
+
+*Constraints:*
+ - parameter must be within bounds 1
+
+## plugins
+
+List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory
+
+* Type: `string_array`
+* Default Value: {}
+
+*Constraints:*
+ - contains no duplicates
+
+## ros_plugins_timeout
+
+Timeout (ms) used in BT::RosNodeParams
+
+* Type: `int`
+* Default Value: 1000
+
+*Constraints:*
+ - parameter must be within bounds 1
+
+## behavior_trees
+
+List of 'package_name/subfolder' containing SubTrees to load into the BehaviorTree factory
+
+* Type: `string_array`
+* Default Value: {}
+
+*Constraints:*
+ - contains no duplicates