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Sample Behaviors

For documentation on sample behaviors included in this package please see the BehaviorTree.CPP ROS 2 Integration documentation. Documentation of the derived class methods can methods for each ROS interface type can be found here.

TreeExecutionServer Sample

Documentation on the TreeExecutionServer used in this example can be found here.

To start the sample Execution Server that load a list of plugins and BehaviorTrees from yaml file:

ros2 launch btcpp_ros2_samples sample_bt_executor.launch.xml

NOTE: For documentation on the yaml parameters please see bt_executor_parameters.md.

As the Server starts up it will print out the name of the ROS Action followed by the plugins and BehaviorTrees it was able to load.

[bt_action_server]: Starting Action Server: behavior_server
[bt_action_server]: Loaded Plugin: libdummy_nodes_dyn.so
[bt_action_server]: Loaded Plugin: libmovebase_node_dyn.so
[bt_action_server]: Loaded Plugin: libcrossdoor_nodes_dyn.so
[bt_action_server]: Loaded Plugin: libsleep_plugin.so
[bt_action_server]: Loaded BehaviorTree: door_closed.xml
[bt_action_server]: Loaded BehaviorTree: cross_door.xml

To call the Action Server from the command line:

ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: CrossDoor}"

You can also try a Behavior that is a ROS Action or Service client itself.

ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: SleepActionSample}"