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Merged
merged 1 commit into from
Mar 1, 2020
Merged

Add #53 content #138

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7 changes: 7 additions & 0 deletions include/behaviortree_cpp_v3/bt_factory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,13 @@ class BehaviorTreeFactory
*/
void registerFromPlugin(const std::string &file_path);

/**
* @brief registerFromROSPlugins finds all shared libraries that export ROS plugins for behaviortree_cpp, and calls registerFromPlugin for each library.
* @throws If not compiled with ROS support or if the library cannot load for any reason
*
*/
void registerFromROSPlugins();

/**
* @brief instantiateTreeNode creates an instance of a previously registered TreeNode.
*
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65 changes: 65 additions & 0 deletions src/bt_factory.cpp
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Expand Up @@ -14,6 +14,11 @@
#include "behaviortree_cpp_v3/utils/shared_library.h"
#include "behaviortree_cpp_v3/xml_parsing.h"

#ifdef USING_ROS
#include "filesystem/path.h"
#include <ros/package.h>
#endif

namespace BT
{
BehaviorTreeFactory::BehaviorTreeFactory()
Expand Down Expand Up @@ -131,6 +136,66 @@ void BehaviorTreeFactory::registerFromPlugin(const std::string& file_path)
}
}

#ifdef USING_ROS

#ifdef _WIN32
const char os_pathsep(';'); // NOLINT
#else
const char os_pathsep(':'); // NOLINT
#endif

// This function is a copy from the one in class_loader_imp.hpp in ROS pluginlib
// package, licensed under BSD.
// https://github.com/ros/pluginlib
std::vector<std::string> getCatkinLibraryPaths()
{
std::vector<std::string> lib_paths;
const char* env = std::getenv("CMAKE_PREFIX_PATH");
if (env)
{
const std::string env_catkin_prefix_paths(env);
std::vector<BT::StringView> catkin_prefix_paths =
splitString(env_catkin_prefix_paths, os_pathsep);
for (BT::StringView catkin_prefix_path : catkin_prefix_paths)
{
filesystem::path path(catkin_prefix_path.to_string());
filesystem::path lib("lib");
lib_paths.push_back((path / lib).str());
}
}
return lib_paths;
}

void BehaviorTreeFactory::registerFromROSPlugins()
{
std::vector<std::string> plugins;
ros::package::getPlugins("behaviortree_cpp", "bt_lib_plugin", plugins, true);
std::vector<std::string> catkin_lib_paths = getCatkinLibraryPaths();

for (const auto& plugin : plugins)
{
auto filename = filesystem::path(plugin + BT::SharedLibrary::suffix());
for (const auto& lib_path : catkin_lib_paths)
{
const auto full_path = filesystem::path(lib_path) / filename;
if (full_path.exists())
{
std::cout << "Registering ROS plugins from " << full_path.str() << std::endl;
registerFromPlugin(full_path.str());
break;
}
}
}
}
#else

void BehaviorTreeFactory::registerFromROSPlugins()
{
throw RuntimeError("Using attribute [ros_pkg] in <include>, but this library was compiled "
"without ROS support. Recompile the BehaviorTree.CPP using catkin");
}
#endif

std::unique_ptr<TreeNode> BehaviorTreeFactory::instantiateTreeNode(
const std::string& name,
const std::string& ID,
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