add ros2 integration tutorials from the official BT website

bt_tutorials_ros2/CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 3.8)
+project(bt_tutorials_ros2)
+
+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(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(action_tutorials_interfaces REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
+find_package(behaviortree_ros2 REQUIRED)
+
+# include directories
+include_directories(
+  include
+)
+
+# add libraries
+add_library(${PROJECT_NAME}_action_client src/${PROJECT_NAME}/${PROJECT_NAME}_action_client.cpp)
+add_library(${PROJECT_NAME}_service_client src/${PROJECT_NAME}/${PROJECT_NAME}_service_client.cpp)
+
+# link libraries against ros dependencies
+ament_target_dependencies(${PROJECT_NAME}_action_client rclcpp behaviortree_cpp behaviortree_ros2 rclcpp_action action_tutorials_interfaces)
+ament_target_dependencies(${PROJECT_NAME}_service_client rclcpp behaviortree_cpp behaviortree_ros2 example_interfaces)
+
+# add executables
+add_executable(${PROJECT_NAME}_action_client_node src/${PROJECT_NAME}_action_client_node.cpp)
+add_executable(${PROJECT_NAME}_service_client_node src/${PROJECT_NAME}_service_client_node.cpp)
+
+# link executables against libraries
+target_link_libraries(${PROJECT_NAME}_action_client_node ${PROJECT_NAME}_action_client)
+target_link_libraries(${PROJECT_NAME}_service_client_node ${PROJECT_NAME}_service_client)
+
+# link executables against ros dependencies
+ament_target_dependencies(${PROJECT_NAME}_action_client_node rclcpp behaviortree_cpp)
+ament_target_dependencies(${PROJECT_NAME}_service_client_node rclcpp behaviortree_cpp)
+
+# install include directories
+install(
+  DIRECTORY include
+  DESTINATION include
+)
+
+# install libraries
+install(
+  TARGETS ${PROJECT_NAME}_action_client ${PROJECT_NAME}_service_client
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+# install executables
+install(
+  TARGETS ${PROJECT_NAME}_action_client_node ${PROJECT_NAME}_service_client_node
+  DESTINATION lib/${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()

bt_tutorials_ros2/README.md

@@ -0,0 +1,50 @@
+# bt_tutorials_ros2
+
+## Overview
+
+This package provides fully documented, runnable examples of the ROS 2 integration tutorials from the official [BehaviorTree.CPP documentation](https://www.behaviortree.dev/), allowing users to test, modify, and extend these examples in their own projects. Specifically, the following two nodes are created:
+
+- **Fibonacci Action Client**: A BehaviorTree client node interacting with the `\fibonacci` action server from the official ROS2 examples.
+- **AddTwoInts Service Client**: A BehaviorTree client node interacting with the `\add_two_ints` service server from the official ROS2 examples.
+
+## Requirements
+
+- **C++17**: Required for building the package.
+- **ROS 2**: Tested on ROS 2 Humble.
+- **BehaviorTree.CPP**: Version 4.0 or higher.
+- **BehaviorTree.ROS**, i.e. this repo.
+
+## Compiling
+Compile using `colcon`, for instance as:
+```
+colcon build --packages-select bt_tutorials_ros2
+```
+## Running
+
+### Fibonacci Action Client
+
+Ensure the `/fibonacci` action server is running. This server is typically included with the ROS 2 installation and can be started using the following command:
+
+```bash
+ros2 run action_tutorials_cpp fibonacci_action_server
+```
+If the server is not available, you can follow the official ROS 2 tutorial [here](https://docs.ros.org/en/humble/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-server) to compile and run it.
+
+Once the action server is up, you can run the **Fibonacci BehaviorTree action client** node with:
+```
+ros2 run bt_tutorials_ros2 bt_tutorials_ros2_action_client_node
+```
+
+### AddTwoInts Service Client
+Ensure the `/add_two_ints` service server is running. You can implement, compile, and run the server following the official ROS 2 tutorial [here](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Cpp-Service-And-Client.html). For example, you can run the server with:
+```
+ros2 run cpp_srvcli server
+```
+
+Once the service server is up, you can run the **AddTwoInts BehaviorTree service client** node with:
+```
+ros2 run bt_tutorials_ros2 bt_tutorials_ros2_service_client_node
+```
+
+### Author
+Janak Panthi (Crasun Jans)

bt_tutorials_ros2/include/bt_tutorials_ros2/bt_tutorials_ros2_action_client.hpp

@@ -0,0 +1,115 @@
+/**
+ * @file bt_tutorials_ros2_action_client.hpp
+ * @brief Header file for the FibonacciActionNode, a custom BehaviorTree node for interacting with the official ROS 2
+ * "/fibonacci" action server.
+ *
+ * @author Janak Panthi (Crasun Jans)
+ *
+ * @details Implements the Fibonacci action client tutorial from the "Integration with ROS2" section on the
+ * official BehaviorTree.CPP website. This node sends goals to a Fibonacci action server, processes its feedback,
+ * and handles the result.
+ *
+ * @license MIT
+ */
+
+#ifndef BT_TUTORIALS_ROS2_ACTION_CLIENT_HPP
+#define BT_TUTORIALS_ROS2_ACTION_CLIENT_HPP
+
+#include <action_tutorials_interfaces/action/fibonacci.hpp> // Action definition for Fibonacci action.
+#include <behaviortree_cpp/action_node.h>                   // Base class for action nodes in BehaviorTreeCpp.
+#include <behaviortree_ros2/bt_action_node.hpp>             // BT wrapper for ROS2 actions.
+#include <string>                                           // For handling string types.
+
+namespace bt_tutorials_ros2_action_client
+{
+// Alias for the Fibonacci action type.
+using Fibonacci = action_tutorials_interfaces::action::Fibonacci;
+
+/**
+ * @brief Class representing a custom action node for the Fibonacci action in a BehaviorTree.
+ *
+ * This class derives from the `RosActionNode` provided by the `behaviortree_ros2` library.
+ * It implements all necessary callbacks and methods to interact with an action server
+ * to perform the Fibonacci action.
+ */
+class FibonacciActionNode : public BT::RosActionNode<Fibonacci>
+{
+  public:
+    // Type alias for the GoalHandle specific to the Fibonacci action.
+    using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;
+
+    /**
+     * @brief Constructor for the FibonacciActionNode.
+     *
+     * Initializes the action node with the given name, configuration, and ROS node parameters.
+     * This allows the action node to interact with the ROS 2 system and communicate with the action server.
+     *
+     * @param name The name of the node in the behavior tree.
+     * @param conf The configuration parameters for the behavior tree node.
+     * @param params ROS node parameters used to configure the action node.
+     */
+    FibonacciActionNode(const std::string &name, const BT::NodeConfig &conf, const BT::RosNodeParams &params);
+
+    /**
+     * @brief Provides the ports required by this action node.
+     *
+     * This static function defines the input and output ports for the node, merging the
+     * base class ports with any additional ones specific to this derived class.
+     *
+     * @return A list of ports this action node provides.
+     */
+    static BT::PortsList providedPorts();
+
+    /**
+     * @brief Sends a request to the action server when the tree node is ticked.
+     *
+     * This function is called when the behavior tree ticks the node. It sends the goal to the
+     * action server.
+     *
+     * @param goal The goal to be sent to the action server.
+     * @return True if the goal was successfully set, otherwise false.
+     */
+    bool setGoal(RosActionNode::Goal &goal) override;
+
+    /**
+     * @brief Callback executed when a result is received from the action server.
+     *
+     * This function is invoked when the action server sends a result. Based on the result,
+     * it will return either `SUCCESS` or `FAILURE` to indicate the outcome of the action.
+     *
+     * @param wr The wrapped result received from the action server.
+     * @return The status of the node after processing the result.
+     */
+    BT::NodeStatus onResultReceived(const WrappedResult &wr) override;
+
+    /**
+     * @brief Callback invoked when the action client encounters a communication failure.
+     *
+     * This callback handles failure cases where the communication between the action client
+     * and the server fails. The node status is updated to either `SUCCESS` or `FAILURE` based on
+     * the error received.
+     *
+     * @param error The error code indicating the failure reason.
+     * @return The status of the node after handling the failure.
+     */
+    BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override;
+
+    /**
+     * @brief Callback for receiving feedback from the action server.
+     *
+     * This function is invoked when feedback is received from the action server. The feedback
+     * can be used to determine the current progress of the action. If necessary, the action can
+     * be aborted based on feedback, or the node can return `SUCCESS` or `FAILURE` if the action completes.
+     *
+     * @param feedback The feedback received from the action server.
+     * @return The status of the node after processing the feedback.
+     */
+    BT::NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback);
+
+  private:
+    std::shared_ptr<rclcpp::Node> shared_node_; // shared pointer to the ROS node
+};
+
+} // namespace bt_tutorials_ros2_action_client
+
+#endif // BT_TUTORIALS_ROS2_ACTION_CLIENT_HPP

bt_tutorials_ros2/include/bt_tutorials_ros2/bt_tutorials_ros2_service_client.hpp

@@ -0,0 +1,100 @@
+/**
+ * @file bt_tutorials_ros2_service_client.hpp
+ * @brief Header file for the AddTwoIntsNode, a custom BehaviorTree node for interacting with the official ROS 2
+ * "/add_two_ints" service.
+ *
+ * @author Janak Panthi (Crasun Jans)
+ *
+ * @details Implements the AddTwoInts service client tutorial from the "Integration with ROS2" section on the
+ * official BehaviorTree.CPP website. This node interacts with a ROS 2 service server to send two integers as a
+ * request and processes the resulting sum.
+ *
+ * @license MIT
+ */
+
+#ifndef BT_TUTORIALS_ROS2_SERVICE_CLIENT_HPP
+#define BT_TUTORIALS_ROS2_SERVICE_CLIENT_HPP
+
+#include <behaviortree_cpp/action_node.h>          // Base class for action nodes in BehaviorTreeCpp.
+#include <behaviortree_ros2/bt_service_node.hpp>   // BT wrapper for ROS2 service nodes.
+#include <example_interfaces/srv/add_two_ints.hpp> // Service definition for AddTwoInts service.
+#include <string>                                  // For handling string types.
+
+namespace bt_tutorials_ros2_service_client
+{
+// Alias for the AddTwoInts service type.
+using AddTwoInts = example_interfaces::srv::AddTwoInts;
+
+/**
+ * @brief Class representing a custom service node for the AddTwoInts service in a BehaviorTree.
+ *
+ * This class derives from the `RosServiceNode` provided by the `behaviortree_ros2` library.
+ * It implements all necessary callbacks and methods to interact with a service server
+ * to perform the AddTwoInts service call.
+ */
+class AddTwoIntsNode : public BT::RosServiceNode<AddTwoInts>
+{
+  public:
+    /**
+     * @brief Constructor for the AddTwoIntsNode.
+     *
+     * Initializes the service node with the given name, configuration, and ROS node parameters.
+     * This allows the service node to communicate with the ROS 2 system and the service server.
+     *
+     * @param name The name of the node in the behavior tree.
+     * @param conf The configuration parameters for the behavior tree node.
+     * @param params ROS node parameters used to configure the service node.
+     */
+    AddTwoIntsNode(const std::string &name, const BT::NodeConfig &conf, const BT::RosNodeParams &params);
+
+    /**
+     * @brief Provides the ports required by this service node.
+     *
+     * This static function defines the input and output ports for the node, merging the
+     * base class ports with any additional ones specific to this derived class.
+     *
+     * @return A list of ports this service node provides.
+     */
+    static BT::PortsList providedPorts();
+
+    /**
+     * @brief Sends a request to the service server when the tree node is ticked.
+     *
+     * This function is called when the behavior tree ticks the node. It sends the request to the
+     * service server.
+     *
+     * @param request The request to be sent to the service server.
+     * @return True if the request was successfully set, otherwise false.
+     */
+    bool setRequest(Request::SharedPtr &request) override;
+
+    /**
+     * @brief Callback executed when a response is received from the service server.
+     *
+     * This function is invoked when the service server sends a response. Based on the response,
+     * it will return either `SUCCESS` or `FAILURE` to indicate the outcome of the service call.
+     *
+     * @param response The response received from the service server.
+     * @return The status of the node after processing the response.
+     */
+    BT::NodeStatus onResponseReceived(const Response::SharedPtr &response) override;
+
+    /**
+     * @brief Callback invoked when the service client encounters a communication failure.
+     *
+     * This callback handles failure cases where the communication between the service client
+     * and the server fails. The node status is updated to either `SUCCESS` or `FAILURE` based on
+     * the error received.
+     *
+     * @param error The error code indicating the failure reason.
+     * @return The status of the node after handling the failure.
+     */
+    BT::NodeStatus onFailure(BT::ServiceNodeErrorCode error) override;
+
+  private:
+    std::shared_ptr<rclcpp::Node> shared_node_; // Shared pointer to the ROS node for logging and other tasks.
+};
+
+} // namespace bt_tutorials_ros2_service_client
+
+#endif // BT_TUTORIALS_ROS2_SERVICE_CLIENT_HPP

bt_tutorials_ros2/package.xml

@@ -0,0 +1,26 @@
+<?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>bt_tutorials_ros2</name>
+  <version>0.0.0</version>
+  <description>Implementation of the Integration with ROS2 Tutorials from the behaviortree.dev Website</description>
+  <maintainer email="[email protected]">Janak Panthi</maintainer>
+  <license>MIT</license>
+  <author>Janak Panthi</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>action_tutorials_interfaces</depend>
+  <depend>example_interfaces</depend>
+  <depend>behaviortree_cpp</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>