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Pimpest merged 86 commits from wip-behaviors into main 2026-05-28 06:21:26 +00:00
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62
toid_bt/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(toid_bt)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
set(PACKAGE_DEPS
rclcpp
angles
behaviortree_cpp
behaviortree_ros2
btcpp_ros2_interfaces
nav2_util
tf2
tf2_ros
tf2_geometry_msgs
geometry_msgs
toid_msgs
std_msgs
std_srvs
)
foreach(PACKAGE ${PACKAGE_DEPS})
find_package(${PACKAGE} REQUIRED)
endforeach()
set(SOURCES
src/bt_executor.cpp
)
add_executable(toid_bt ${SOURCES})
target_include_directories(
toid_bt
PRIVATE
include
)
ament_target_dependencies(toid_bt ${PACKAGE_DEPS})
install(TARGETS toid_bt DESTINATION lib/${PROJECT_NAME})
install(
DIRECTORY
launch
params
behavior_trees
DESTINATION share/${PROJECT_NAME}/
)
target_compile_features(
toid_bt PUBLIC
c_std_99
cxx_std_17
)
ament_package()

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toid_bt/LICENSE Normal file
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Apache License
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toid_bt/behavior_trees/behavior1.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="test_1">
<Sequence>
<RotateSimple angle="90"
radians="false"
min_angle="0.000000"
action_name=""/>
<Sleep msec="1000"/>
<RotateSimple angle="0"
radians="false"
min_angle="0.000000"
action_name=""/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="RotateSimple">
<input_port name="angle"
type="double"/>
<input_port name="radians"
default="false"
type="bool"/>
<input_port name="min_angle"
default="0.000000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
</TreeNodesModel>
</root>

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toid_bt/behavior_trees/calibration_routines.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4">
<BehaviorTree ID="wheel_ratio_calibration">
<Sequence>
<Delay delay_msec="5000">
<ZeroOdom service_name=""/>
</Delay>
<MovePointSimple x="1.0"
y="0"
theta="0"
action_name=""/>
<RotateSimple angle="180"
radians="false"
min_angle="0.000000"
action_name=""/>
<MovePointSimple x="0.4"
y="0"
theta="180"
action_name=""/>
</Sequence>
</BehaviorTree>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="MovePointSimple">
<input_port name="x"
type="double"/>
<input_port name="y"
type="double"/>
<input_port name="theta"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateSimple">
<input_port name="angle"
type="double"/>
<input_port name="radians"
default="false"
type="bool"/>
<input_port name="min_angle"
default="0.000000"
type="double"/>
<input_port name="action_name"
type="std::string">Action server name</input_port>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name"
type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>

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toid_bt/behavior_trees/toid_behaviors.btproj Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<root BTCPP_format="4" project_name="Project">
<include path="behavior1.xml"/>
<include path="calibration_routines.xml"/>
<!-- Description of Node Models (used by Groot) -->
<TreeNodesModel>
<Action ID="EndCalib">
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Action ID="MovePointSimple">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>
<input_port name="theta" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateSimple">
<input_port name="angle" type="double"/>
<input_port name="radians" default="false" type="bool"/>
<input_port name="min_angle" default="0.000000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="RotateTowards">
<input_port name="x" type="double"/>
<input_port name="y" type="double"/>
<input_port name="radians" default="false" type="bool"/>
<input_port name="min_angle" default="0.000000" type="double"/>
<input_port name="action_name" type="std::string">Action server name</input_port>
</Action>
<Action ID="SetWidth">
<input_port name="width" type="double"/>
<input_port name="count" default="1" type="int"/>
<output_port name="new_width" type="double"/>
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
<Action ID="ZeroOdom">
<input_port name="service_name" type="std::string">Service name</input_port>
</Action>
</TreeNodesModel>
</root>

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toid_bt/include/toid_bt/bt_executor.hpp Normal file
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#pragma once
#include "rclcpp/rclcpp.hpp"
#include "behaviortree_ros2/tree_execution_server.hpp"
#include "behaviortree_cpp/loggers/bt_cout_logger.h"
#include "tf2_ros/buffer.hpp"
#include "tf2_ros/transform_listener.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
namespace toid {
class TreeExecutor : public BT::TreeExecutionServer {
public:
TreeExecutor(const rclcpp::NodeOptions opts);
void onTreeCreated(BT::Tree& tree) override;
void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory) override;
std::optional<std::string> onTreeExecutionCompleted(BT::NodeStatus status, bool was_cancelled) override;
void position(geometry_msgs::msg::PoseStamped &pose);
std::string describeCustomNodes();
private:
std::shared_ptr<BT::StdCoutLogger> logger_cout_;
tf2_ros::Buffer::SharedPtr tf_buffer_;
std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
std::string base_frame_;
std::string global_frame_;
};
}

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toid_bt/include/toid_bt/plugin.hpp Normal file
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#pragma once
#include <functional>
#include "geometry_msgs/msg/pose_stamped.hpp"
namespace toid {
using PoseFunc = std::function<void(geometry_msgs::msg::PoseStamped &)>;
}

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toid_bt/include/toid_bt/plugins/empty_srv_action.hpp Normal file
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#pragma once
#include "angles/angles.h"
#include "behaviortree_ros2/bt_service_node.hpp"
#include "std_srvs/srv/empty.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "toid_bt/plugin.hpp"
namespace toid
{
class EmptySrvNode : public BT::RosServiceNode<std_srvs::srv::Empty>
{
public:
EmptySrvNode(
const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params)
: BT::RosServiceNode<std_srvs::srv::Empty>(name, conf, params)
{
}
bool setRequest(typename Request::SharedPtr &) override { return true; }
BT::NodeStatus onResponseReceived(const typename Response::SharedPtr &) override
{
return BT::NodeStatus::SUCCESS;
}
};
} // namespace toid

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toid_bt/include/toid_bt/plugins/end_calib_action.hpp Normal file
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#pragma once
#include "angles/angles.h"
#include "behaviortree_ros2/bt_service_node.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "toid_bt/plugin.hpp"
#include "toid_msgs/srv/send_double.hpp"
namespace toid
{
class EndCalibNode : public BT::RosServiceNode<toid_msgs::srv::SendDouble>
{
public:
EndCalibNode(
const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
PoseFunc pose)
: BT::RosServiceNode<toid_msgs::srv::SendDouble>(name, conf, params), get_pose(pose)
{
}
static BT::PortsList providedPorts()
{
return providedBasicPorts({
BT::InputPort<double>("width"), BT::InputPort<int>("count", 1, {}),
BT::OutputPort<double>("new_width"),
//BT::InputPort<double>("options"),
});
}
bool setRequest(typename Request::SharedPtr & request) override
{
auto width = getInput<double>("width").value();
auto count = getInput<double>("count").value();
geometry_msgs::msg::PoseStamped pose;
get_pose(pose);
double theta = tf2::getYaw(pose.pose.orientation);
double new_width = width * (1 + (theta / (2 * M_PI * count)));
request->data = new_width;
setOutput("new_width", new_width);
return true;
}
BT::NodeStatus onResponseReceived(const typename Response::SharedPtr &) override
{
return BT::NodeStatus::SUCCESS;
}
PoseFunc get_pose;
};
} // namespace toid

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toid_bt/include/toid_bt/plugins/move_coords_action.hpp Normal file
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#pragma once
#include "angles/angles.h"
#include "behaviortree_ros2/bt_action_node.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "toid_bt/plugin.hpp"
#include "toid_msgs/action/simple_move_coords.hpp"
namespace toid
{
class MovePointNode : public BT::RosActionNode<toid_msgs::action::SimpleMoveCoords>
{
public:
MovePointNode(
const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
PoseFunc pose)
: BT::RosActionNode<toid_msgs::action::SimpleMoveCoords>(name, conf, params), get_pose(pose)
{
std::cout << "wtf? " << params.default_port_value << std::endl;
}
static BT::PortsList providedPorts()
{
return providedBasicPorts({
BT::InputPort<double>("x"), BT::InputPort<double>("y"), BT::InputPort<double>("theta"),
//BT::InputPort<double>("options"),
});
}
bool setGoal(Goal & goal) override
{
auto x_goal = getInput<double>("x");
auto y_goal = getInput<double>("y");
auto theta = getInput<double>("theta");
goal.x = x_goal.value();
goal.y = y_goal.value();
if (!theta.has_value()) {
geometry_msgs::msg::PoseStamped pose;
get_pose(pose);
goal.theta = tf2::getYaw(pose.pose.orientation);
} else {
goal.theta = angles::from_degrees(theta.value_or(0));
}
return true;
}
void onHalt() override { RCLCPP_INFO(logger(), "%s: onHalt", name().c_str()); }
BT::NodeStatus onResultReceived(const WrappedResult & wr) override
{
return (wr.result->error_code == 0) ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
}
BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
{
RCLCPP_ERROR(logger(), "%s: onFailure with error: %s", name().c_str(), toStr(error));
return BT::NodeStatus::FAILURE;
}
PoseFunc get_pose;
};
} // namespace toid

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toid_bt/include/toid_bt/plugins/rotate_action.hpp Normal file
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#pragma once
#include "angles/angles.h"
#include "behaviortree_ros2/bt_action_node.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "toid_bt/plugin.hpp"
#include "toid_msgs/action/simple_rotate.hpp"
namespace toid
{
class RotateNode : public BT::RosActionNode<toid_msgs::action::SimpleRotate>
{
public:
RotateNode(
const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
PoseFunc pose)
: BT::RosActionNode<toid_msgs::action::SimpleRotate>(name, conf, params), get_pose(pose)
{
}
static BT::PortsList providedPorts()
{
return providedBasicPorts({
BT::InputPort<double>("angle", {}),
BT::InputPort<double>("min_angle", 0, {}),
BT::InputPort<bool>("radians", false, {}),
//BT::InputPort<double>("options"),
});
}
bool setGoal(Goal & goal) override
{
auto angle = getInput<double>("angle");
auto min_angle = getInput<double>("min_angle");
auto radians = getInput<bool>("radians");
goal.angle = angle.value();
goal.min_angle = min_angle.value();
if (!radians.value()) {
goal.angle = angles::from_degrees(goal.angle);
goal.min_angle = angles::from_degrees(goal.min_angle);
}
return true;
}
void onHalt() override { RCLCPP_INFO(logger(), "%s: onHalt", name().c_str()); }
BT::NodeStatus onResultReceived(const WrappedResult & wr) override
{
return (wr.result->error_code == 0) ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
}
BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
{
RCLCPP_ERROR(logger(), "%s: onFailure with error: %s", name().c_str(), toStr(error));
return BT::NodeStatus::FAILURE;
}
PoseFunc get_pose;
};
} // namespace toid

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toid_bt/include/toid_bt/plugins/rotate_towards_action.hpp Normal file
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#pragma once
#include "angles/angles.h"
#include "behaviortree_ros2/bt_action_node.hpp"
#include "tf2/utils.hpp"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "toid_bt/plugin.hpp"
#include "toid_msgs/action/simple_rotate.hpp"
namespace toid
{
class RotateTowardsNode : public BT::RosActionNode<toid_msgs::action::SimpleRotate>
{
public:
RotateTowardsNode(
const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params,
PoseFunc pose)
: BT::RosActionNode<toid_msgs::action::SimpleRotate>(name, conf, params), get_pose(pose)
{
}
static BT::PortsList providedPorts()
{
return providedBasicPorts({
BT::InputPort<double>("x", {}),
BT::InputPort<double>("y", {}),
BT::InputPort<double>("min_angle", 0, {}),
BT::InputPort<bool>("radians", false, {}),
//BT::InputPort<double>("options"),
});
}
bool setGoal(Goal & goal) override
{
auto x = getInput<double>("x").value();
auto y = getInput<double>("y").value();
auto min_angle = getInput<double>("min_angle");
auto radians = getInput<bool>("radians");
geometry_msgs::msg::PoseStamped pose;
get_pose(pose);
goal.angle = std::atan2(y - pose.pose.position.y, x - pose.pose.position.x);
goal.min_angle = min_angle.value();
if (!radians.value()) {
goal.min_angle = angles::from_degrees(goal.min_angle);
}
return true;
}
void onHalt() override { RCLCPP_INFO(logger(), "%s: onHalt", name().c_str()); }
BT::NodeStatus onResultReceived(const WrappedResult & wr) override
{
return (wr.result->error_code == 0) ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
}
BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
{
RCLCPP_ERROR(logger(), "%s: onFailure with error: %s", name().c_str(), toStr(error));
return BT::NodeStatus::FAILURE;
}
PoseFunc get_pose;
};
} // namespace toid

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toid_bt/launch/bt.launch.py Normal file
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import IfCondition
from launch.substitutions import Command, LaunchConfiguration, IfElseSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
import os
def generate_launch_description():
pkg_share = FindPackageShare("").find('toid_bt')
bt_params = os.path.join(pkg_share, 'params', 'bt_params.yaml')
visualize = LaunchConfiguration("visualize")
visualize_arg = DeclareLaunchArgument(
'visualize',
default_value='False',
description="Whether to launch rviz2"
)
use_mock = LaunchConfiguration("use_mock")
use_mock_arg = DeclareLaunchArgument(
'use_mock',
default_value='True',
description="Whether to use mock controller"
)
bt_executor = Node(
package='toid_bt',
executable='toid_bt',
output='screen',
emulate_tty=True,
parameters=[bt_params],
)
return LaunchDescription([
visualize_arg,
use_mock_arg,
bt_executor,
])

31
toid_bt/package.xml Normal file
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<?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>toid_bt</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="82343504+pimpest@users.noreply.github.com">pimpest</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>angles</depend>
<depend>behaviortree_ros2</depend>
<depend>btcpp_ros2_interfaces</depend>
<depend>nav2_util</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>tf2_geometry_msgs</depend>
<depend>geometry_msgs</depend>
<depend>toid_msgs</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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toid_bt/params/bt_params.yaml Normal file
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toid_bt:
ros__parameters:
action_name: "bt_run"
tick_frequency: 100
groot2_port: 8420
ros_plugins_timeout: 1000
behavior_trees:
- toid_bt/behavior_trees

103
toid_bt/src/bt_executor.cpp Normal file
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#include "toid_bt/bt_executor.hpp"
#include "behaviortree_cpp/xml_parsing.h"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/robot_utils.hpp"
#include "rclcpp/rclcpp.hpp"
#include "toid_bt/plugins/empty_srv_action.hpp"
#include "toid_bt/plugins/end_calib_action.hpp"
#include "toid_bt/plugins/move_coords_action.hpp"
#include "toid_bt/plugins/rotate_action.hpp"
#include "toid_bt/plugins/rotate_towards_action.hpp"
namespace toid
{
TreeExecutor::TreeExecutor(const rclcpp::NodeOptions opts)
: BT::TreeExecutionServer(std::make_shared<rclcpp::Node>("toid_bt", opts))
{
/*
executeRegistration();
std::cout << BT::writeTreeNodesModelXML(factory()) << std::endl;
tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node()->get_clock());
tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
*/
nav2_util::declare_parameter_if_not_declared(
node(), "base_frame", rclcpp::ParameterValue("base_footprint"));
node()->get_parameter("base_frame", base_frame_);
nav2_util::declare_parameter_if_not_declared(
node(), "global_frame", rclcpp::ParameterValue("map"));
node()->get_parameter("global_frame", global_frame_);
}
void TreeExecutor::onTreeCreated(BT::Tree & tree)
{
logger_cout_ = std::make_shared<BT::StdCoutLogger>(tree);
}
void TreeExecutor::registerNodesIntoFactory(BT::BehaviorTreeFactory & factory)
{
PoseFunc get_pose = [this](geometry_msgs::msg::PoseStamped & pose) { this->position(pose); };
rclcpp::Node::SharedPtr nh = node();
factory.registerNodeType<toid::MovePointNode>(
"MovePointSimple", BT::RosNodeParams(nh, "/moveCoords"), get_pose);
factory.registerNodeType<toid::RotateNode>(
"RotateSimple", BT::RosNodeParams(nh, "/rotate"), get_pose);
factory.registerNodeType<toid::RotateTowardsNode>(
"RotateTowards", BT::RosNodeParams(nh, "/rotate"), get_pose);
factory.registerNodeType<toid::EndCalibNode>(
"SetWidth", BT::RosNodeParams(nh, "/set_width"), get_pose);
factory.registerNodeType<toid::EmptySrvNode>(
"ZeroOdom", BT::RosNodeParams(nh, "/zero"));
factory.registerNodeType<toid::EmptySrvNode>(
"EndCalib", BT::RosNodeParams(nh, "/end_calib"));
std::cout << describeCustomNodes() << std::endl;
}
void TreeExecutor::position(geometry_msgs::msg::PoseStamped & pose)
{
nav2_util::getCurrentPose(pose, *tf_buffer_, global_frame_, base_frame_);
}
std::optional<std::string> TreeExecutor::onTreeExecutionCompleted(
BT::NodeStatus status, bool was_cancelled)
{
(void)status;
logger_cout_.reset();
if (was_cancelled) {
std::cout << "Behavior tree was cancled" << std::endl;
}
return std::nullopt;
}
std::string TreeExecutor::describeCustomNodes() { return BT::writeTreeNodesModelXML(factory()); }
} // namespace toid
int main(const int argc, const char * const * argv)
{
rclcpp::init(argc, argv);
rclcpp::NodeOptions options;
auto bt_exec_server = std::make_shared<toid::TreeExecutor>(options);
rclcpp::executors::MultiThreadedExecutor executor(
rclcpp::ExecutorOptions(), 0, false, std::chrono::milliseconds(250));
executor.add_node(bt_exec_server->node());
executor.spin();
executor.remove_node(bt_exec_server->node());
rclcpp::shutdown();
return 0;
}