MoveIt.BT

!!UNDER CONSTRUCTION!!

This ROS 2 package is designed to make building, combining and executing MoveIt based Behaviors easy and reusable.

An example launch file is included that starts the Behavior server and loads a list of plugins and BehaviorTrees from yaml file:

ros2 launch mtc_samples sample_mtc_behaviors.launch.xml

As the server starts up it will print out the name of the Action followed by the plugins and BehaviorTrees have been loaded. The specific ones important to this demo are:

[sample_bt_executor-9] [bt_action_server 1723905390.146525490]: Loaded ROS Plugin: libmtc_plugin.so
[sample_bt_executor-9] [bt_action_server 1723905390.148748207]: Loaded BehaviorTree: test_mtc.xml

To run a simple example motion:

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

Building from source

1. Clone this repository and its required dependencies (Once the upstream repositories have been updated to be compatible with this repository this step will be removed):

git clone https://github.com/MarqRazz/MoveIt.BT.git
vcs import < MoveIt.BT/moveit_bt.repos

2. Install dependencies with rosdep:

rosdep install --from-paths . --ignore-src --rosdistro "$ROS_DISTRO" -y

3. Build the colcon workspace with:

colcon build