BehaviorTree.ROS2 (forked by David Lai)

This repository is a forked version by David Lai. Changes made in the source code include:

1. bt_topic_sub_node:
   • use RosNodeParams.server_timeout as the sleep duration before the executor spins to receive subscription to avoid failure when ticking the node for the first time.
2. bt_action_node:
   • added a nullptr checking for goal_handle_ before canceling the goal in cancelGoal()
   • added asyncCancelGoal() public function to allow async_cancel_all_goals()
   • temporarily disable oal request timeout check

This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP together.

In particular, it provides a standard way to implement:

• Action clients.
• Service Clients.
• Topic Subscribers.
• Topic Publishers.

Our main goals are:

• to minimize the amount of boilerplate.
• to make asynchronous Actions non-blocking.

Note that this library is compatible only with:

• BT.CPP 4.1 or newer.
• ROS2 Humble or newer.

Additionally, check plugins.hpp to see how to learn how to wrap your Nodes into plugins that can be loaded at run-time.

Acknowledgements

A lot of code is either inspired or copied from Nav2.

For this reason, we retain the same license and copyright.