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Merge branch 'master' into ros2
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‎CHANGELOG.rst

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Changelog for package behaviortree_cpp
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.5.0 (2018-12-12)
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------------------
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* Introducing SyncActionNode that is more self explaining and less ambiguous
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* fix potential problem related to ControlNode::haltChildren()
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* Adding example/test of navigation and recovery behavior. Related to issue #36
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* Contributors: Davide Faconti
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2.4.4 (2018-12-12)
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------------------
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* adding virtual TreeNode::onInit() [issue #33]
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* fix issue #34 : if you don't implement convertFromString, it will compile but it may throw
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* Pretty demangled names and obsolate comments removed
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* bug fixes
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* more comments
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* [enhancement #32]: add CoroActionNode and rename ActionNode as "AsynActionNode"
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The name ActionNode was confusing and it has been deprecated.
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* Update README.md
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* removed old file
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* Fix issue #31 : convertFromString mandatory for TreeNode::getParam, not Blackboard::get
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* Cherry piking changes from PR #19 which solve issue #2 CONAN support
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* Contributors: Davide Faconti
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2.4.3 (2018-12-07)
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------------------
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* Merge branch 'master' into ros2

‎CMakeLists.txt

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@@ -164,6 +164,8 @@ set(BT_TESTS
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gtest/gtest_fallback.cpp
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gtest/gtest_factory.cpp
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gtest/gtest_decorator.cpp
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gtest/gtest_blackboard.cpp
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gtest/navigation_test.cpp
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)
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if(ament_cmake_FOUND AND BUILD_TESTING)

‎README.md

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![License MIT](https://img.shields.io/dub/l/vibe-d.svg)
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![Version](https://img.shields.io/badge/version-v2.4-green.svg)
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![Version](https://img.shields.io/badge/version-v2.5-green.svg)
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[![Build Status](https://travis-ci.org/BehaviorTree/BehaviorTree.CPP.svg?branch=master)](https://travis-ci.org/BehaviorTree/BehaviorTree.CPP)
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Question? [![Join the chat at https://gitter.im/BehaviorTree-ROS/Lobby](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/BehaviorTree-ROS/Lobby?utm_source=badge&utm_medium=badge&utm_content=badge)

‎docs/getting_started.md

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To create a custom TreeNode, you should inherit from the proper class.
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For instance, to create your own synchronous Action, you should inherit from the
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class __ActionNodeBase__.
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class __SyncActionNode__.
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Alternatively, we provided a mechanism to create a TreeNode passing a
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__function pointer__ to a wrapper (dependency injection).

‎docs/tutorial_A_create_trees.md

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The default (and recommended) way to create a TreeNode is by inheritance.
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``` c++
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// Example of custom ActionNodeBase (synchronous Action)
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class ApproachObject: public BT::ActionNodeBase
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// Example of custom SyncActionNode (synchronous Action)
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class ApproachObject: public BT::SyncActionNode
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{
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public:
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ApproachObject(const std::string& name):
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BT::ActionNodeBase(name) {}
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BT::SyncActionNode(name) {}
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// You must override this virtual function
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BT::NodeStatus tick() override
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{
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std::cout << "ApproachObject: " << this->name() << std::endl;
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return BT::NodeStatus::SUCCESS;
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}
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// You must override this virtual function
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virtual void halt() override
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{
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// Do nothing. This is used by asynchronous nodes only.
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std::cout << "ApproachObject: " << this->name() << std::endl;
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return BT::NodeStatus::SUCCESS;
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}
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};
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```

‎docs/tutorial_B_node_parameters.md

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To create a TreeNodes that accepts NodeParameters, you must follow these rules:
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- Inherit from either ActionNodeBase, ActionNode, ConditionNode or DecoratorNode.
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- Inherit from either ActionNode, ConditionNode or DecoratorNode.
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- You must provide a constructor with the following signature:
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## Example: an Action requiring the parameter "message"
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`SaySomething` is a simple synchronous ActionNodeBase which will print the
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`SaySomething` is a simple SyncActionNode which will print the
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string passed in the NodeParameter called "message".
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Please note:
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`tick()` method.
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``` c++ hl_lines="5 9 18"
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class SaySomething: public ActionNodeBase
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class SaySomething: public SyncActionNode
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{
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public:
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// There must be a constructor with this signature
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SaySomething(const std::string& name, const NodeParameters& params):
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ActionNodeBase(name, params) {}
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SyncActionNode(name, params) {}
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// It is mandatory to define this static method.
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static const NodeParameters& requiredNodeParameters()
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virtual NodeStatus tick() override
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{
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std::string msg;
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if( getParam("message", msg) == false )
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{
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// if getParam failed, use the default value
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msg = requiredNodeParameters().at("message");
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}
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std::cout << "Robot says: " << msg << std::endl;
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return BT::NodeStatus::SUCCESS;
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}
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virtual void halt() override {}
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std::string msg;
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if( getParam("message", msg) == false )
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{
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// if getParam failed, use the default value
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msg = requiredNodeParameters().at("message");
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}
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std::cout << "Robot says: " << msg << std::endl;
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return BT::NodeStatus::SUCCESS;
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}
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};
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```
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## Example: conversion to user defined C++ types
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In the next example we have a user defined type `Pose2D`.
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return params;
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}
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virtual NodeStatus tick() override
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{
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Pose2D goal;
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virtual NodeStatus tick() override
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{
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Pose2D goal;
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if( getParam<Pose2D>("goal", goal) == false )
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{
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auto default_goal = requiredNodeParameters().at("goal");
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goal = BT::convertFromString<Pose2D>( default_goal_value );
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}
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printf("[ MoveBase: STARTED ]. goal: x=%.f y=%.1f theta=%.2f\n",
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goal.x, goal.y, goal.theta);
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printf("[ MoveBase: STARTED ]. goal: x=%.f y=%.1f theta=%.2f\n",
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goal.x, goal.y, goal.theta);
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halt_requested_ = false;
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halt_requested_ = false;
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int count = 0;
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// "compute" for 250 milliseconds or until halt_requested_
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while( !halt_requested_ && count++ < 25)
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{
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SleepMilliseconds(10);
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}
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std::cout << "[ MoveBase: FINISHED ]" << std::endl;
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return halt_requested_ ? NodeStatus::FAILURE :
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NodeStatus::SUCCESS;
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}
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virtual void halt() override
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{
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halt_requested_ = true;
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}
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int count = 0;
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// "compute" for 250 milliseconds or until halt_requested_
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while( !halt_requested_ && count++ < 25)
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{
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SleepMilliseconds(10);
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}
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std::cout << "[ MoveBase: FINISHED ]" << std::endl;
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return halt_requested_ ? NodeStatus::FAILURE :
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NodeStatus::SUCCESS;
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}
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virtual void halt() override
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{
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halt_requested_ = true;
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}
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private:
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bool halt_requested_;
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};

‎gtest/gtest_blackboard.cpp

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/* Copyright (C) 2018 Davide Faconti - All Rights Reserved
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
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* The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <gtest/gtest.h>
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#include "action_test_node.h"
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#include "condition_test_node.h"
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#include "behaviortree_cpp/behavior_tree.h"
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#include "behaviortree_cpp/blackboard/blackboard_local.h"
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using namespace BT;
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class InitTestNode: public SyncActionNode
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{
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public:
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InitTestNode(bool try_to_access_bb, const std::string& name):
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SyncActionNode(name),
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_value(0)
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{
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if( try_to_access_bb )
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{
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// this should throw
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blackboard()->set(KEY(), 33);
32+
}
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}
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void onInit() {
36+
blackboard()->get(KEY(), _value);
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}
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NodeStatus tick()
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{
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_value *= 2;
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blackboard()->set(KEY(), _value);
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return NodeStatus::SUCCESS;
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}
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static const char* KEY() { return "my_entry"; }
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private:
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int _value;
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};
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/****************TESTS START HERE***************************/
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TEST(BlackboardTest, CheckOInit)
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{
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auto bb = Blackboard::create<BlackboardLocal>();
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const auto KEY = InitTestNode::KEY();
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EXPECT_THROW( InitTestNode(true,"init_test"), std::logic_error );
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64+
InitTestNode node(false,"init_test");
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node.setBlackboard(bb);
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bb->set(KEY, 11 );
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// this should read and write "my_entry", respectively in onInit() and tick()
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node.executeTick();
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ASSERT_EQ( bb->get<int>(KEY), 22 );
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// check that onInit is executed only once
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bb->set(KEY, 1 );
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// since this value is read in OnInit(), the node will not notice the change in bb
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node.setStatus( NodeStatus::IDLE );
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node.executeTick();
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ASSERT_EQ( bb->get<int>(KEY), 44 );
81+
}

‎gtest/gtest_factory.cpp

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std::vector<BT::TreeNode::Ptr> nodes;
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BT::TreeNode::Ptr root_node = parser.instantiateTree(nodes);
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BT::TreeNode::Ptr root_node = parser.instantiateTree(nodes, Blackboard::Ptr());
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BT::printTreeRecursively(root_node.get());
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std::vector<BT::TreeNode::Ptr> nodes;
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BT::TreeNode::Ptr root_node = parser.instantiateTree(nodes);
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BT::TreeNode::Ptr root_node = parser.instantiateTree(nodes, Blackboard::Ptr());
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BT::printTreeRecursively(root_node.get());
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ASSERT_EQ(root_node->name(), "root_selector");

‎gtest/include/action_test_node.h

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namespace BT
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{
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class SyncActionTest : public ActionNodeBase
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class SyncActionTest : public SyncActionNode
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{
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public:
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SyncActionTest(const std::string& name);
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BT::NodeStatus tick() override;
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virtual void halt() override
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{
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}
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void setBoolean(bool boolean_value);
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int tickCount() const
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int tick_count_;
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};
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class AsyncActionTest : public ActionNode
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class AsyncActionTest : public AsyncActionNode
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{
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public:
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AsyncActionTest(const std::string& name);

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