{"id":41704203,"url":"https://github.com/sonia-auv/sonia_bt_runner","last_synced_at":"2026-01-24T21:21:06.407Z","repository":{"id":250990758,"uuid":"836069948","full_name":"sonia-auv/sonia_bt_runner","owner":"sonia-auv","description":null,"archived":false,"fork":false,"pushed_at":"2025-11-29T22:56:07.000Z","size":391,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":5,"default_branch":"develop","last_synced_at":"2025-12-02T03:23:34.954Z","etag":null,"topics":["active","auv"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/sonia-auv.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2024-07-31T05:24:08.000Z","updated_at":"2025-11-12T16:28:18.000Z","dependencies_parsed_at":"2024-08-05T08:58:53.792Z","dependency_job_id":"41b9c31d-db49-47a7-b564-a316c2ec5f91","html_url":"https://github.com/sonia-auv/sonia_bt_runner","commit_stats":null,"previous_names":["sonia-auv/sonia_bt_runner"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/sonia-auv/sonia_bt_runner","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sonia-auv%2Fsonia_bt_runner","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sonia-auv%2Fsonia_bt_runner/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sonia-auv%2Fsonia_bt_runner/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sonia-auv%2Fsonia_bt_runner/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/sonia-auv","download_url":"https://codeload.github.com/sonia-auv/sonia_bt_runner/tar.gz/refs/heads/develop","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sonia-auv%2Fsonia_bt_runner/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28737112,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-24T19:23:36.361Z","status":"ssl_error","status_checked_at":"2026-01-24T19:23:28.966Z","response_time":89,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["active","auv"],"created_at":"2026-01-24T21:21:05.806Z","updated_at":"2026-01-24T21:21:06.396Z","avatar_url":"https://github.com/sonia-auv.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# sonia_bt_runner\n\nThe project runs a **mission server** that accepts and launchs missions on the **AUV** prototype for autonomous operations. It also handles the generation of custom **Behavior Tree nodes** used within these missions. The mission server oversees execution from start to finish, providing real-time control and feedback throughout the operation.\n\n---\n\n## Dependencies\n\n### ROS 2 Distro\n\n* Humble\n\n### ROS 2 Packages\n\n* `ament_cmake`\n* `rclcpp`\n* `rclcpp_action`\n* `behaviortree_cpp`\n* `std_msgs`\n* `std_srvs`\n\n### Sonia packages\n\n* `sonia_common_ros2`\n\n### External packages\n\n* `tinyxml2`\n\n---\n## sonia_bt_missions\n\nsonia_bt_missions contains the missions used for autonomous operations as well as the generated sonia behaviortree nodes required by groot. The missions are created using **Groot2**, an application that helps interact with behaviortree nodes.\n\n![Groot2 interface](https://www.behaviortree.dev/img/groot2.png)\n\n---\n\n## Node\n\n* Name: `Mission_server`\n\n---\n\n## Registered Topics / Services / Actions\n\n| Type             | Name                            | Direction       | Message/Service Type                       | Description                                               |\n| ---------------- | ------------------------------- | ----------------| ------------------------------------------ | --------------------------------------------------------- |\n| Topic            | `/mission_server/status_report` | Published       | `std_msgs/msg/String`                      | Messages about state of the mission server while running  |\n| Topic            | `/system_monitor/node_status`   | Published       | `sonia_common_ros2/msg/NodeStatus`         | Message contains information of the state of a node       |\n| Service          | `/mission_server/mission_list`  | Service Server  | `sonia_common_ros2/srv/MissionListService` | Returns a mission list generated by the mission server    |\n| Action           | `MissionControl`                | Action Server   | `sonia_common_ros2/action/MissionControl`  | Handles mission launch requests                           |\n\n---\n## Build Instructions\nTo build the project, the following commands should be run directly from your ROS2 workspace.\n\n```bash\ncolcon build --packages-select sonia_bt_runner --symlink-install\nsource install/setup.bash\n```\n\n---\n\n## Launch Instructions\n\n### Environment variables\nRequired environment variables to launch the project\n\n```bash\nexport SONIA_WS={path_to_your_ros2_workspace}\n```\nreplace `{path_to_your_ros2_workspace}` with the absolute path to your ros2 workspace\n\n### Node generate command\nThe command generates an xml file of custom behaviortree nodes required by groot to create sonia missions.\n\n```bash\nros2 run sonia_bt_runner gen_nodes\n```\n\n### Default launch\nThe command launchs the mission server \n\n```bash\nros2 launch sonia_bt_runner launch.py\n```\n\n---\n\n## Useful ROS 2 Commands\n\n```bash\nros2 node list\nros2 node info /Mission_server\nros2 topic echo /mission_server/status_report\nros2 param list /Mission_server\n```\n\n---\n\n## References\n\n* [sonia_common_ros2](https://github.com/sonia-auv/sonia_common_ros2)\n* [BehaviorTree.CPP](https://www.behaviortree.dev/)\n* [Groot2](https://www.behaviortree.dev/groot/)\n\n---\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsonia-auv%2Fsonia_bt_runner","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsonia-auv%2Fsonia_bt_runner","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsonia-auv%2Fsonia_bt_runner/lists"}