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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ninamwa/kmriiwa_ws.git
VCS Type git
VCS Version eloquent
Last Updated 2020-06-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

TODO: Package description

Additional Links

No additional links.

Maintainers

  • ninamwa

Authors

No additional authors.

1. Description

This package includes functionality for using a behavior tree to create more complex functionality for the robot. The plugin folder consists of custom made condition and action nodes. These nodes can be put together in multiple ways to create a full tree. Different behavior trees are found in the behavior_trees folder, and which tree to use is specified in the launch file. The param file can be used to specify different information, like positions of workstations and a list of goals. The behaviortree will start over for every goal pose in the list. When the list is empty, the robot will navigate back to the home position/docking station.

All other nodes which the behavior tree nodes depends upon must be running for the behavior tree to be initalized.

2. Requirements

The following packages needs to be installed:

  • behaviortree_cpp_v3

3. Run

To launch the behaviortree, run:

$ ros2 launch kmr_behaviortree bt.launch.py 

When the behavior tree is initialized, a message to the /start_topic must be sent for the execution of the tree to start. This is done to make sure everything is correctly set up before starting, and should be removed at a later point.

$ ros2 topic pub /start_topic std_msgs/msg/String {'data: OK'} -1

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kmr_behaviortree at Robotics Stack Exchange

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