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author
Davide Faconti
committed
tutorials updated
1 parent c66d25a commit 3f6a471

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2 files changed

+17
-30
lines changed

2 files changed

+17
-30
lines changed

examples/t02_factory_tree.cpp

Lines changed: 1 addition & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,6 @@ const std::string xml_text = R"(
2020
<OpenGripper name="open_gripper"/>
2121
<ApproachObject name="approach_object"/>
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<CloseGripper name="close_gripper"/>
23-
<SaySomething name="say_done" message="mission completed!" />
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</Sequence>
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</BehaviorTree>
2625
@@ -58,7 +57,7 @@ int main()
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factory.registerSimpleAction("CloseGripper", std::bind( &GripperInterface::close, &gripper));
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6059
factory.registerNodeType<ApproachObject>("ApproachObject");
61-
factory.registerNodeType<SaySomething>("SaySomething");
60+
6261
#else
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// Load dynamically a plugin and register the TreeNodes it contains
6463
factory.registerFromPlugin("./libdummy_nodes.so");

examples/t03_sequence_star.cpp

Lines changed: 16 additions & 28 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,4 @@
11
#include "behavior_tree_core/xml_parsing.h"
2-
#include "behavior_tree_logger/bt_cout_logger.h"
3-
#include "behavior_tree_logger/bt_file_logger.h"
42

53
#include "dummy_nodes.h"
64
#include "movebase_node.h"
@@ -26,7 +24,9 @@ const std::string xml_text_sequence = R"(
2624
<Sequence name="root">
2725
<BatteryOK/>
2826
<TemperatureOK />
27+
<SaySomething message="mission started..." />
2928
<MoveBase goal="1;2;3"/>
29+
<SaySomething message="mission completed!" />
3030
</Sequence>
3131
</BehaviorTree>
3232
@@ -39,9 +39,11 @@ const std::string xml_text_sequence_star = R"(
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<BehaviorTree ID="MainTree">
4141
<SequenceStar name="root">
42-
<BatteryOK/>
43-
<TemperatureOK />
44-
<MoveBase goal="1;2;3"/>
42+
<BatteryOK/>
43+
<TemperatureOK />
44+
<SaySomething message="mission started..." />
45+
<MoveBase goal="1;2;3"/>
46+
<SaySomething message="mission completed!" />
4547
</SequenceStar>
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</BehaviorTree>
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@@ -57,10 +59,13 @@ void Assert(bool condition)
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int main()
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{
62+
using namespace DummyNodes;
63+
6064
BehaviorTreeFactory factory;
61-
factory.registerSimpleCondition("TemperatureOK", std::bind( DummyNodes::CheckBattery ));
62-
factory.registerSimpleCondition("BatteryOK", std::bind( DummyNodes::CheckTemperature ));
65+
factory.registerSimpleCondition("TemperatureOK", std::bind( CheckBattery ));
66+
factory.registerSimpleCondition("BatteryOK", std::bind( CheckTemperature ));
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factory.registerNodeType<MoveBaseAction>("MoveBase");
68+
factory.registerNodeType<SaySomething>("SaySomething");
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// Compare the state transitions and messages using either
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// xml_text_sequence and xml_text_sequence_star
@@ -75,15 +80,6 @@ int main()
7580

7681
auto tree = buildTreeFromText(factory, xml_text);
7782

78-
// This logger will show all the state transitions on console
79-
StdCoutLogger logger_cout(tree.root_node);
80-
logger_cout.enableTransitionToIdle(false);// make the log less verbose
81-
logger_cout.seTimestampType( TimestampType::RELATIVE );
82-
83-
// FileLogger will save the state transitions in a custom file format
84-
// simple_trace.fbl, that can be visualized using the command line tool [bt_log_cat]
85-
FileLogger logger_file(tree.root_node, "simple_trace.fbl");
86-
8783
NodeStatus status;
8884

8985
std::cout << "\n--- 1st executeTick() ---" << std::endl;
@@ -111,43 +107,35 @@ int main()
111107
------------ BUILDING A NEW TREE ------------
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--- 1st executeTick() ---
114-
[0.000]: root IDLE -> RUNNING
115110
[ Temperature: OK ]
116-
[0.000]: BatteryOK IDLE -> SUCCESS
117111
[ Battery: OK ]
118-
[0.000]: TemperatureOK IDLE -> SUCCESS
119-
[0.000]: MoveBase IDLE -> RUNNING
112+
Robot says: "mission started..."
120113
[ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
121114
122115
--- 2nd executeTick() ---
123116
[ Temperature: OK ]
124117
[ Battery: OK ]
125118
[ MoveBase: FINISHED ]
126-
[0.253]: MoveBase RUNNING -> SUCCESS
127119
128120
--- 3rd executeTick() ---
129121
[ Temperature: OK ]
130122
[ Battery: OK ]
131-
[0.301]: root RUNNING -> SUCCESS
123+
Robot says: "mission completed!"
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133125
134126
------------ BUILDING A NEW TREE ------------
135127
136128
--- 1st executeTick() ---
137-
[0.000]: root IDLE -> RUNNING
138129
[ Temperature: OK ]
139-
[0.000]: BatteryOK IDLE -> SUCCESS
140130
[ Battery: OK ]
141-
[0.000]: TemperatureOK IDLE -> SUCCESS
142-
[0.000]: MoveBase IDLE -> RUNNING
131+
Robot says: "mission started..."
143132
[ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
144133
145134
--- 2nd executeTick() ---
146135
[ MoveBase: FINISHED ]
147-
[0.254]: MoveBase RUNNING -> SUCCESS
148136
149137
--- 3rd executeTick() ---
150-
[0.301]: root RUNNING -> SUCCESS
138+
Robot says: "mission completed!"
151139
152140
*/
153141

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