final touch

Author: daf@blue-ocean-robotics.com

CMakeLists.txt

@@ -51,28 +51,24 @@ catkin_package(
 
 include_directories( include ${catkin_INCLUDE_DIRS})
 
-
 ######################################################
 # LIBRARIES
 
-add_library(behaviortree_ros
-    src/loggers/rosout_logger.cpp
-    src/bt_service_node.cpp
-    )
-
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+#header only for the time being
 
+#add_library(behaviortree_ros ... )
+#target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
 ######################################################
 # TESTS
 
 add_executable(test_bt test/test_bt.cpp)
 add_dependencies(test_bt ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(test_bt ${catkin_LIBRARIES} ${PROJECT_NAME})
+target_link_libraries(test_bt ${catkin_LIBRARIES} )
 
 add_executable(test_server test/test_server.cpp)
 add_dependencies(test_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(test_server ${catkin_LIBRARIES} ${PROJECT_NAME})
+target_link_libraries(test_server ${catkin_LIBRARIES} )
 
 ######################################################
 # INSTALL

README.md

@@ -6,7 +6,15 @@ to develop Behavior Trees in C++.
 The library is not particularly opinionated about the way Actions and Conditions should be created; this gives
 more freedom to the developer, but can also be confusing for those people which are getting started with it.
 
-[BehaviorTree.ROS](https://github.com/BehaviorTree/BehaviorTree.ROS) provides some practical examples and 
-utilities related to [ROS (the Robotic Operative System)](http://www.ros.org).
+Consequently, many people in the [ROS](http://www.ros.org) community asked for examples and guidelines;
+this repository try to provide some basic examples.
+
+Currently, two wrappers are provided:
+
+- [RosServiceNode](include/behaviortree_ros/bt_service_node.h), which can be used to call
+  [ROS Services](http://wiki.ros.org/Services)
+
+- [RosActionNode](include/behaviortree_ros/bt_service_node.h) that, similarly, is a wrapper around
+  [actionlib::SimpleActionClient](http://wiki.ros.org/actionlib).
+
 
-ROS users can use this library or look at the way Nodes are implemented to implmenent their own version.

include/behaviortree_ros/bt_action_node.h

@@ -24,6 +24,17 @@
 namespace BT
 {
 
+/** Helper Node to call an actionlib::SimpleActionClient<>
+ * inside a BT::ActionNode.
+ *
+ * Note that the user must implement the methods:
+ *
+ *  - sendGoal
+ *  - onResult
+ *  - onFailedRequest
+ *  - halt (optionally)
+ *
+ */
 template<class ActionT>
 class RosActionNode : public BT::ActionNodeBase
 {
@@ -48,6 +59,8 @@ class RosActionNode : public BT::ActionNodeBase
 
   virtual ~RosActionNode() = default;
 
+  /// These ports will be added automatically if this Node is
+  /// registered using RegisterRosAction<DeriveClass>()
   static PortsList providedPorts()
   {
     return  {
@@ -56,13 +69,15 @@ class RosActionNode : public BT::ActionNodeBase
       };
   }
 
+  /// Method called when the Action makes a transition from IDLE to RUNNING.
+  /// If it return false, the entire action is immediately aborted, it returns
+  /// FAILURE and no request is sent to the server.
   virtual bool sendGoal(GoalType& goal) = 0;
 
   /// Method (to be implemented by the user) to receive the reply.
   /// User can decide which NodeStatus it will return (SUCCESS or FAILURE).
   virtual NodeStatus onResult( const ResultType& res) = 0;
 
-
   enum FailureCause{
     MISSING_SERVER = 0,
     ABORTED_BY_SERVER = 1,
@@ -75,6 +90,10 @@ class RosActionNode : public BT::ActionNodeBase
     return NodeStatus::FAILURE;
   }
 
+  /// If you override this method, you MUST call this implementation invoking:
+  ///
+  ///    BaseClass::halt()
+  ///
   virtual void halt() override
   {
     if( status() == NodeStatus::RUNNING )
@@ -92,7 +111,6 @@ class RosActionNode : public BT::ActionNodeBase
 
   BT::NodeStatus tick() override
   {
-
     unsigned msec = getInput<unsigned>("timeout").value();
     ros::Duration timeout(static_cast<double>(msec) * 1e-3);
 
@@ -112,7 +130,6 @@ class RosActionNode : public BT::ActionNodeBase
       {
         return NodeStatus::FAILURE;
       }
-
       action_client_->sendGoal(goal);
     }
 

include/behaviortree_ros/bt_service_node.h

@@ -24,6 +24,9 @@
 namespace BT
 {
 
+/**
+ * Base Action to implement a ROS Service
+ */
 template<class ServiceT>
 class RosServiceNode : public BT::SyncActionNode
 {
@@ -34,23 +37,26 @@ class RosServiceNode : public BT::SyncActionNode
 
 public:
 
-  using ServiceType = ServiceT;
-  using RequestType = typename ServiceT::Request;
+  using BaseClass    = RosServiceNode<ServiceT>;
+  using ServiceType  = ServiceT;
+  using RequestType  = typename ServiceT::Request;
   using ResponseType = typename ServiceT::Response;
 
   RosServiceNode() = delete;
 
   virtual ~RosServiceNode() = default;
 
+  /// These ports will be added automatically if this Node is
+  /// registered using RegisterRosAction<DeriveClass>()
   static PortsList providedPorts()
   {
     return  {
       InputPort<std::string>("service_name", "name of the ROS service"),
-      InputPort<unsigned>("timeout", 100, "timeout to connect (milliseconds)")
+      InputPort<unsigned>("timeout", 100, "timeout to connect to server (milliseconds)")
       };
   }
 
-  /// User must implement this method
+  /// User must implement this method.
   virtual void sendRequest(RequestType& request) = 0;
 
   /// Method (to be implemented by the user) to receive the reply.