https://github.com/sonia-auv/sonia_bt_runner
https://github.com/sonia-auv/sonia_bt_runner
active auv
Last synced: about 2 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/sonia-auv/sonia_bt_runner
- Owner: sonia-auv
- Created: 2024-07-31T05:24:08.000Z (over 1 year ago)
- Default Branch: develop
- Last Pushed: 2025-11-29T22:56:07.000Z (3 months ago)
- Last Synced: 2025-12-02T03:23:34.954Z (3 months ago)
- Topics: active, auv
- Language: C++
- Homepage:
- Size: 382 KB
- Stars: 0
- Watchers: 5
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# sonia_bt_runner
The 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.
---
## Dependencies
### ROS 2 Distro
* Humble
### ROS 2 Packages
* `ament_cmake`
* `rclcpp`
* `rclcpp_action`
* `behaviortree_cpp`
* `std_msgs`
* `std_srvs`
### Sonia packages
* `sonia_common_ros2`
### External packages
* `tinyxml2`
---
## sonia_bt_missions
sonia_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.
---
## Node
* Name: `Mission_server`
---
## Registered Topics / Services / Actions
| Type | Name | Direction | Message/Service Type | Description |
| ---------------- | ------------------------------- | ----------------| ------------------------------------------ | --------------------------------------------------------- |
| Topic | `/mission_server/status_report` | Published | `std_msgs/msg/String` | Messages about state of the mission server while running |
| Topic | `/system_monitor/node_status` | Published | `sonia_common_ros2/msg/NodeStatus` | Message contains information of the state of a node |
| Service | `/mission_server/mission_list` | Service Server | `sonia_common_ros2/srv/MissionListService` | Returns a mission list generated by the mission server |
| Action | `MissionControl` | Action Server | `sonia_common_ros2/action/MissionControl` | Handles mission launch requests |
---
## Build Instructions
To build the project, the following commands should be run directly from your ROS2 workspace.
```bash
colcon build --packages-select sonia_bt_runner --symlink-install
source install/setup.bash
```
---
## Launch Instructions
### Environment variables
Required environment variables to launch the project
```bash
export SONIA_WS={path_to_your_ros2_workspace}
```
replace `{path_to_your_ros2_workspace}` with the absolute path to your ros2 workspace
### Node generate command
The command generates an xml file of custom behaviortree nodes required by groot to create sonia missions.
```bash
ros2 run sonia_bt_runner gen_nodes
```
### Default launch
The command launchs the mission server
```bash
ros2 launch sonia_bt_runner launch.py
```
---
## Useful ROS 2 Commands
```bash
ros2 node list
ros2 node info /Mission_server
ros2 topic echo /mission_server/status_report
ros2 param list /Mission_server
```
---
## References
* [sonia_common_ros2](https://github.com/sonia-auv/sonia_common_ros2)
* [BehaviorTree.CPP](https://www.behaviortree.dev/)
* [Groot2](https://www.behaviortree.dev/groot/)
---