https://github.com/andreaszachariae/iras_coordinator
The ROS2 Humble package offers a starting point for high-level task control of your robotic application. It is based on the BehaviorTree.CPP framework.
https://github.com/andreaszachariae/iras_coordinator
behavior-tree humble robot-framework ros2
Last synced: 5 months ago
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The ROS2 Humble package offers a starting point for high-level task control of your robotic application. It is based on the BehaviorTree.CPP framework.
- Host: GitHub
- URL: https://github.com/andreaszachariae/iras_coordinator
- Owner: AndreasZachariae
- License: other
- Created: 2023-12-06T11:51:40.000Z (over 2 years ago)
- Default Branch: humble
- Last Pushed: 2024-04-30T11:44:31.000Z (about 2 years ago)
- Last Synced: 2025-04-04T05:42:00.824Z (about 1 year ago)
- Topics: behavior-tree, humble, robot-framework, ros2
- Language: C++
- Homepage:
- Size: 416 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.md
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README
# IRAS Coordinator
This package uses the [BehaviorTree.IRAS](https://github.com/AndreasZachariae/BehaviorTree.IRAS) framework which is a wrapper around the [BehaviorTree.cpp v3.8](https://www.behaviortree.dev/) library and extends it for the combined use of behavior trees with ROS 2 Humble.
The IRAS Coordinator offers a starting point for high-level task control of your robotic application. Just clone this package and change the git remote and develop behaviors for your own custom project.
```bash
git clone -b humble https://github.com/AndreasZachariae/iras_coordinator.git
cd iras_coordinator
git remote remove origin
git remote add origin
```
The library of actions can be arranged freely with the graphical user interface [Groot](https://github.com/BehaviorTree/Groot).
## How to start
Build and start the docker container
```bash
source build_docker.sh
source start_docker.sh
```
Inside the container launch the Coordinator node with parameters
```bash
ros2 launch iras_coordinator test.launch.py
```
To view or modify the behavior trees, attach a new shell and start Groot
```bash
docker exec -it coordinator bash
ros2 run groot Groot
```
## How to start with C++ debugging
Install VSCode extension:
- Remote Development
- ROS
- C/C++
Mount settings folder .vscode to target directory for development
```bash
# Add parameter to docker run command
-v $PWD/.vscode:/home/docker/ros2_ws/src/.vscode
```
```bash
source start_docker.sh
```
1. Attach to running docker container with VSCode remote extension
2. Open remote folder where .vscode is mounted to
3. Install `ROS` and `C/C++` extension in container
4. Use command palette (strg + shift + p) and `Tasks: Run Task` and `Build`
5. Use VSCode debugger and stop points for debugging
## How to design a new Behavior Tree
1. Start the docker container as normal
```bash
source start_docker.sh
```
2. If new BT nodes were added or ports changed regenerate the GrootPalette by starting a test BT.
```bash
# in ~/ros2_ws/
colcon build
ros2 launch iras_coordinator test.launch.py
```
3. Start Groot in Editor mode
```bash
ros2 run groot Groot
# Click "Editor" and "START"
```
4. Load GrootPalette with all custom nodes.
Click on -> 
to load palette from file.
Choose the file from: `/home/docker/ros2_ws/src/iras_coordinator/behaviors/GrootPalette.xml`
5. Build BT via drag and drop
6. Save tree to file.
Click on -> 
to save.
Choose location as: `/home/docker/ros2_ws/src/iras_coordinator/behaviors//`
7. Modify config parameter
```yaml
# in /home/docker/ros2_ws/src/iras_coordinator/config/params.yaml
main_tree_path: "/home/docker/ros2_ws/src/iras_coordinator/behaviors//.xml"
```
OR create a new launch file with this parameter
```python
# in /home/docker/ros2_ws/src/iras_coordinator/launch/.launch.py>
parameters=[{'main_tree_path': "/home/docker/ros2_ws/src/iras_coordinator/behaviors//.xml",
'groot_palette_path': "/home/docker/ros2_ws/src/iras_coordinator/behaviors/GrootPalette.xml"}],
```
8. Launch your node
## How to create a new custom node
There are currently 4 different types of nodes supported:
- **actions** Use for ROS2 action client
- **services** Use for ROS2 service client
- **conditions** Use for classic BT condition with ROS2 node handle access
- **nodes** Use for classic BT action with ROS2 node handle access
This instructions gives an example for a ROS2 action client
1. Add a new header file in the corresponding folder at `iras_coordinator/include/iras_coordinator/actions`. For this, copy an existing file from that folder and rename. Use this structure as template. Copy `MoveBase.h` and rename to `MyCustomActionNode.h`.
2. Add a new source file in `iras_coordinator/src/actions`. Copy `MoveBase.cpp` and rename to `MyCustomActionNode.cpp`.
3. In this source file change the first line to include your newly added header.
Replace: ~~`#include `~~
```cpp
// in MyCustomActionNode.cpp
#include
```
4. In your header file `MyCustomActionNode.h` include the header files of your ROS2 interface you want to use. In this example it is located in the `iras_interfaces` package.
Replace: ~~`#include `~~
**Important**: Interface header files are generated automatically. If your Interface file is called `MyCustomAction.action` (PascalCase) the generated header will be `my_custom_action.hpp` (snake_case).
```cpp
// in MyCustomActionNode.h
#include
```
5. Give an alias as shorter name.
Replace: ~~`using NavigateToPoseAction = nav2_msgs::action::NavigateToPose;`~~
```cpp
// in MyCustomActionNode.h
using MyCustomAction = iras_interfaces::action::MyCustomAction;
```
6. Replace all occurences where old alias is used with new one in `.ccp` and `.h` file. Use VSCode find and replace (strg + f) or rename symbol (F2) shortcut.
7. Change the class name to the same name as the file.
Replace: ~~`class MoveArm : public RosAction`~~
**Important**: The class name must be different from the given alias.
```cpp
// in MyCustomActionNode.h
class MyCustomActionNode : public RosAction
```
8. Replace all occurences of the old class name in the source file `.ccp` with new one. Use VSCode find and replace (strg + f) or rename symbol (F2) shortcut.
Replace: For every function: ~~`std::string MoveBase::ros2_action_name()`~~
```cpp
// in MyCustomActionNode.cpp
// for every function
std::string MyCustomActionNode::ros2_action_name()
/* ... */
```
9. Set the topic name of the ROS2 action server to connect with as string.
```cpp
// in MyCustomActionNode.cpp
std::string MyCustomActionNode::ros2_action_name()
{
return "my_custom_action_topic";
}
```
10. Set the list of ports provided by the BT node.
```cpp
// in MyCustomActionNode.cpp
/* New port:
* direction = [BT::InputPort, BT::OutputPort, BT::BidirectionalPort]
* data_type = <[float, int, std::string]>
* name = ("name") */
BT::PortsList MyCustomActionNode::providedPorts()
{
return {BT::InputPort("string_input"),
BT::OutputPort("float_output"),
BT::BidirectionalPort("int_bidirectional")
/* ... */};
}
```
11. Set the content of the goal message which is sent to the ROS2 action server.
```cpp
// in MyCustomActionNode.cpp
void MyCustomActionNode::on_send(MyCustomAction::Goal &goal)
{
goal.header.frame_id = "custom_frame";
goal.header.stamp = get_node_handle()->now();
/* ... */
log("Custom goal sent");
}
```
12. Define what happens when recieving feedback from the ROS2 action server.
```cpp
// in MyCustomActionNode.cpp
void MyCustomActionNode::on_feedback(const std::shared_ptr feedback)
{
/* ... */
log("Feedback no. " + std::to_string(feedback.counter) + " recieved");
}
```
13. Define what happens when recieving the result from the ROS2 action server.
```cpp
// in MyCustomActionNode.cpp
void MyCustomActionNode::on_result(const rclcpp_action::ClientGoalHandle::WrappedResult &result, const MyCustomAction::Goal &goal)
{
/* ... */
log("Action finished");
}
```
14. Include your header file in the Coordinator node at `iras_coordinator/src/node.cpp`
```cpp
// in node.cpp
#include
```
15. Register your node in the BehaviorTreeFactory.
**Important**: The string given here defines the name of the node in BT XML representation and Groot.
```cpp
// in node.cpp
factory.registerNodeType("MyCustomActionNode");
```
16. Rebuild and start the container as described above. This will generate an updated GrootPalette to use in the graphical editor Groot as described in "How to design a new Behavior Tree"
## License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
## TODO
- [x] Groot Palette for new navigation actions clear costmap initialpose
- [ ] (Integrate LifecycleManager to Coordinator)
- [x] (Integrate cpp_core)
- [x] Better name ros_name() Make function for each type action, service, etc
- [x] Add Groot publisher integration
- [ ] Add RosPublisher and RosSubscriber
- [x] finish PortHandler and rename XMLDefinition
- [x] Add general doc with purpose of this repo
- [x] Add instructions how to add new nodes
- [x] Add instructions how to edit BT with Groot
- [x] Finish refactoring of lagacy nodes with new style
- [x] Add cpp debugger for ros nodes and launch files (ROS extension has to be installed)
- [x] Restructure repo folders. Move cpp_core and bt.iras to separate repo
- [ ] Add iras_dummies package for faster development of behaviors and offer templates for ROS2 dummy server
## Port from FOXY to HUMBLE:
- declare_parameter needs a type argument `this->declare_parameter("my_str", rclcpp::PARAMETER_STRING);`
- `what(): std::future_error: No associated state` https://github.com/ros2/rclcpp/issues/1968