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kmr_behaviortree package from kmriiwa_ws repokmr_behaviortree kmr_bringup kmr_communication kmr_manipulator kmr_moveit2 kmr_msgs kmr_navigation2 kmr_simulation kmr_slam |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Repository for specialization project and master thesis in Robotics & Automation, at NTNU 2019/2020 |
| Checkout URI | https://github.com/ninamwa/kmriiwa_ws.git |
| VCS Type | git |
| VCS Version | eloquent |
| Last Updated | 2020-06-10 |
| Dev Status | UNKNOWN |
| 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
Additional Links
Maintainers
- ninamwa
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