https://github.com/hongtai-yuan/behavior_ros2
本仓库基于行为树，在 Ros2 humble 中为一些常见的指令编写了行为树中的通用实现。包括 ros2 run、ros2 topic 等，目的是将其集成到行为树中，以实现行为树中的多功能编排。
https://github.com/hongtai-yuan/behavior_ros2
behavior-tree navigation ros2-humble usbcamera
Last synced: about 1 month ago
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本仓库基于行为树，在 Ros2 humble 中为一些常见的指令编写了行为树中的通用实现。包括 ros2 run、ros2 topic 等，目的是将其集成到行为树中，以实现行为树中的多功能编排。
- Host: GitHub
- URL: https://github.com/hongtai-yuan/behavior_ros2
- Owner: Hongtai-Yuan
- Created: 2024-10-29T07:33:55.000Z (7 months ago)
- Default Branch: main
- Last Pushed: 2025-02-14T14:09:55.000Z (3 months ago)
- Last Synced: 2025-03-25T08:22:32.245Z (about 2 months ago)
- Topics: behavior-tree, navigation, ros2-humble, usbcamera
- Language: C++
- Homepage:
- Size: 30.3 KB
- Stars: 6
- Watchers: 2
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Behavior_ROS2
Based on the behavior tree, the repository has written a general implementation of some common instructions in Ros2 Humble in the behavior tree. Including ros2 run, ros2 topic, etc., the purpose is to integrate it into the behavior tree to achieve multi-function orchestration in the behavior tree.
| 功能 | 描述 | 文件 |
|----------|--------------------|--------|
| autodock_client | Apriltag码定位 | autodock_client.hpp |
| interrupt_event | 中断 | interrupt_event.hpp |
| nav2_client | 导航 | nav2_client.hpp |
| publish_topic | 发布某一话题 | publish_topic.hpp |
| send_goal | 发布目标点 | send_goal.cpp |
| snapshot_client | 相机拍照 | snapshot_client.hpp |
| start_run_command | 执行ros2 run | start_run_command.hpp |
| start_usb_cam | 执行usb相机拍照 | start_usb_cam.hpp |
| teleop_event | cmd_vel控制速度 | teleop_event.hpp |
| wait_node | 睡眠阻塞 | wait_node.hpp |
## Build Behavior_ros2:
```bash
$ cd ~/Behavior_ros2/
$ source /opt/ros/humble/setup.bash
$ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
$ . install/setup.bash
$ ros2 launch bt_ros2 bt_ros2.launch.py
```
## Nake self node:
If you want to customize some other behavior tree nodes, please write an hpp or cpp file, and then register it in bt_ros2.cpp, I have shown the example.
Step 1. Make .hpp file.
```cpp
#pragma once
#include
#include
#include
#include
class PublishTopic : public BT::SyncActionNode
{
public:
PublishTopic(const std::string& name, const BT::NodeConfiguration& config)
: BT::SyncActionNode(name, config)
{
node_ = rclcpp::Node::make_shared("lift_control");
command_ = "ros2 topic pub /lift_control std_msgs/msg/Int32 \"{data: 1}\" --rate 10 --times 20";
}
static BT::PortsList providedPorts()
{
return { BT::InputPort("command") };
}
virtual BT::NodeStatus tick() override
{
std::string custom_command;
if (getInput("command", custom_command)) {
command_ = custom_command;
}
RCLCPP_INFO(node_->get_logger(), "Executing command: %s", command_.c_str());
int result = std::system(command_.c_str());
if (result == 0) {
RCLCPP_INFO(node_->get_logger(), "publish topic started successfully.");
std::this_thread::sleep_for(std::chrono::seconds(3));
return BT::NodeStatus::SUCCESS;
} else {
RCLCPP_ERROR(node_->get_logger(), "Failed to start publish topic: %s", command_.c_str());
return BT::NodeStatus::FAILURE;
}
}
private:
rclcpp::Node::SharedPtr node_;
std::string command_;
};
```
Step 2. Registers the behavior tree node.
```cpp
#include "publish_topic.hpp"
factory.registerNodeType("PublishTopic");
```
Step 3. Write execution flow.
```xml
```