monkey_bt_util

ROS2 utility library for Behaviour Tree C++.

Most of the source code here are taken and modified from ros-navigation navigation2/nav2_behaviour_tree repository.

Demo

To run demo behavior tree server:

ros2 run monkey_bt_util demo_bt_server

On another terminal, execute the tree via ros2 service:

ros2 service call /execute_tree std_srvs/srv/Empty

Lifecycle Transition IDs

This library supports the following lifecycle transition IDs:

• NOTE: THE BT NODE "LifecycleChangeState" ONLY SUPPORTS LIFECYCLE TRANSITION STATE CHANGES, IT DOES NOT READ THE CURRENT STATE OF THE NODE.

Transition ID	Description
0	TRANSITION_CREATE
1	TRANSITION_CONFIGURE
2	TRANSITION_CLEANUP
3	TRANSITION_ACTIVATE
4	TRANSITION_DEACTIVATE
5	TRANSITION_UNCONFIGURED_SHUTDOWN
6	TRANSITION_INACTIVE_SHUTDOWN
7	TRANSITION_ACTIVE_SHUTDOWN
8	TRANSITION_DESTROY
10	TRANSITION_ON_CONFIGURE_SUCCESS
11	TRANSITION_ON_CONFIGURE_FAILURE
12	TRANSITION_ON_CONFIGURE_ERROR
20	TRANSITION_ON_CLEANUP_SUCCESS
21	TRANSITION_ON_CLEANUP_FAILURE
22	TRANSITION_ON_CLEANUP_ERROR
30	TRANSITION_ON_ACTIVATE_SUCCESS
31	TRANSITION_ON_ACTIVATE_FAILURE
32	TRANSITION_ON_ACTIVATE_ERROR
40	TRANSITION_ON_DEACTIVATE_SUCCESS
41	TRANSITION_ON_DEACTIVATE_FAILURE
42	TRANSITION_ON_DEACTIVATE_ERROR
50	TRANSITION_ON_SHUTDOWN_SUCCESS
51	TRANSITION_ON_SHUTDOWN_FAILURE
52	TRANSITION_ON_SHUTDOWN_ERROR
60	TRANSITION_ON_ERROR_SUCCESS
61	TRANSITION_ON_ERROR_FAILURE
62	TRANSITION_ON_ERROR_ERROR
97	TRANSITION_CALLBACK_SUCCESS
98	TRANSITION_CALLBACK_FAILURE
99	TRANSITION_CALLBACK_ERROR

Each transition ID corresponds to a unique state in the lifecycle of a node.

Example usage in BT:

Make sure to format the service_name like this: /<node_name>/change_state

• The "/change_state" must be included in the service_name

    <LifecycleChangeState service_name="/lc_talker/change_state"
                        transition_id="1"/>  <!--Transition to Configure State-->
    <Delay delay_msec="3000">
        <LifecycleChangeState service_name="/lc_talker"
                            transition_id="3"/> <!--Transition to Activate State-->

Authors

• @LocoHao