Using BehaviorTree.ROS2 for ROS2 integration with BTAction.

[robodrome]

I am currently working on the integration of BehaviorTree.ROS2 - by @facontidavide - into the PlanSys2 plansys2_bt_actions package. I am running test now to rule out any big issues.

Features:

• Uses BehaviorTree.CPP v4
• backward compatible with e.g. the examples here
• supports ROS2 action clients, service clients, pub/sub topics

Replaces:

• BTActionNode.hpp

I made some changes to BTAction.cpp in plansys2_bt_actions so it will accept both BT_RegisterNodesFromPlugin and the newBT_RegisterRosNodeFromPlugin as defined here.

Let me know if you (@fmrico) want me to push this branch when it is ready for inspection.

Preview of BTAction.cpp:

BT::SharedLibrary loader;

  for (auto & plugin : plugin_lib_names) {
    std::string plugin_path = loader.getOSName(plugin);

    // Try to load the plugin
    try {
      loader.load(plugin_path);
      RCLCPP_DEBUG_STREAM(get_logger(), "Loaded library: " << plugin_path);
    } catch (const std::exception & e) {
      RCLCPP_WARN_STREAM(
        get_logger(),
        "Failed to load library: " << plugin_path << " - " << e.what());
    }

    // First try to register the node from the plugin
    try {
      if (loader.getSymbol("BT_RegisterNodesFromPlugin") != nullptr) {
        RCLCPP_INFO_STREAM(get_logger(), "Registering node from plugin " << plugin);
        loader.unload();
        factory_.registerFromPlugin(plugin_path);
        continue;
      }
    } catch (const std::exception & e) {
      RCLCPP_DEBUG_STREAM(
        get_logger(),
        "Plugin " << plugin << " does not have symbol BT_RegisterNodesFromPlugin: " << e.what());
    }

    // Second try to register the ROS node from the plugin
    try {
      if (loader.getSymbol("BT_RegisterRosNodeFromPlugin") != nullptr) {
        RCLCPP_DEBUG_STREAM(get_logger(), "Registering ROS node from plugin " << plugin);
        BT::RosNodeParams params;
        auto nh = std::make_shared<rclcpp::Node>(plugin);
        RCLCPP_DEBUG_STREAM(get_logger(), "nh: " << nh->get_name());
        RCLCPP_DEBUG_STREAM(get_logger(), "action: " << action_);
        params.nh = nh;
        params.default_port_value = action_;
        loader.unload();
        RegisterRosNode(factory_, plugin_path, params);
        continue;
      }
    } catch (const std::exception & e) {
      RCLCPP_DEBUG_STREAM(
        get_logger(),
        "Plugin " << plugin << " does not have symbol BT_RegisterRosNodeFromPlugin: " << e.what());
    }

    // If the plugin does not have any of the symbols, log an error
    RCLCPP_ERROR_STREAM(
      get_logger(),
      "Plugin " << plugin <<
        " does not have symbol BT_RegisterNodesFromPlugin nor BT_RegisterRosNodeFromPlugin");
      loader.unload();
  }

Output:

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [plansys2_node-1]: process started with pid [262000]
[INFO] [sleep_server-2]: process started with pid [262002]
[INFO] [bt_action_node-3]: process started with pid [262004]
[INFO] [bt_action_node-4]: process started with pid [262006]
[INFO] [bt_action_node-5]: process started with pid [262008]
[INFO] [bt_action_node-6]: process started with pid [262010]
[INFO] [bt_action_node-7]: process started with pid [262012]
[INFO] [bt_action_node-8]: process started with pid [262014]
[INFO] [assemble_action_node-9]: process started with pid [262016]
[INFO] [assemble_action_node-10]: process started with pid [262018]
[INFO] [assemble_action_node-11]: process started with pid [262020]
[INFO] [bt_action_node-12]: process started with pid [262022]
[INFO] [bt_action_node-13]: process started with pid [262024]
[INFO] [bt_action_node-14]: process started with pid [262026]
[INFO] [bt_action_node-15]: process started with pid [262028]
[INFO] [bt_action_node-16]: process started with pid [262031]
[INFO] [bt_action_node-17]: process started with pid [262049]
[bt_action_node-3] [INFO] [1709653359.379083311] [move_1]: action_name: [move]
[bt_action_node-3] [INFO] [1709653359.379180062] [move_1]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/move.xml]
[bt_action_node-3] [INFO] [1709653359.379197384] [move_1]: Plugin: [plansys2_move_bt_ros2_node]
[bt_action_node-3] [INFO] [1709653359.381399097] [move_1]: Registering node from plugin plansys2_move_bt_ros2_node
[bt_action_node-12] [INFO] [1709653359.386388561] [recharge_1]: action_name: [recharge]
[bt_action_node-12] [INFO] [1709653359.386488708] [recharge_1]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/recharge.xml]
[bt_action_node-12] [INFO] [1709653359.386508525] [recharge_1]: Plugin: [plansys2_recharge_bt_ros2_node]
[bt_action_node-12] [INFO] [1709653359.386897493] [recharge_1]: Registering node from plugin plansys2_recharge_bt_ros2_node
[bt_action_node-14] [INFO] [1709653359.401117240] [recharge_3]: action_name: [recharge]
[bt_action_node-14] [INFO] [1709653359.401220964] [recharge_3]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/recharge.xml]
[bt_action_node-14] [INFO] [1709653359.401238517] [recharge_3]: Plugin: [plansys2_recharge_bt_ros2_node]
[bt_action_node-14] [INFO] [1709653359.401505036] [recharge_3]: Registering node from plugin plansys2_recharge_bt_ros2_node
[bt_action_node-15] [INFO] [1709653359.408761694] [sleep_service_1]: action_name: [sleep_service]
[bt_action_node-15] [INFO] [1709653359.408863264] [sleep_service_1]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/sleep_service.xml]
[bt_action_node-15] [INFO] [1709653359.408883111] [sleep_service_1]: Plugin: [plansys2_sleep_bt_ros2_node]
[bt_action_node-15] [WARN] [1709653359.409726460] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[bt_action_node-7] [INFO] [1709653359.413527798] [transport_2]: action_name: [transport]
[bt_action_node-7] [INFO] [1709653359.413607217] [transport_2]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/transport.xml]
[bt_action_node-7] [INFO] [1709653359.413625050] [transport_2]: Plugin: [plansys2_close_gripper_bt_ros2_node]
[bt_action_node-7] [INFO] [1709653359.413633125] [transport_2]: Plugin: [plansys2_open_gripper_bt_ros2_node]
[bt_action_node-7] [INFO] [1709653359.413650277] [transport_2]: Plugin: [plansys2_move_bt_ros2_node]
[bt_action_node-7] [INFO] [1709653359.413655617] [transport_2]: Plugin: [plansys2_approach_object_bt_ros2_node]
[bt_action_node-7] [INFO] [1709653359.413876892] [transport_2]: Registering node from plugin plansys2_close_gripper_bt_ros2_node
[bt_action_node-6] [INFO] [1709653359.413759041] [transport_1]: action_name: [transport]
[bt_action_node-7] [INFO] [1709653359.414323117] [transport_2]: Registering node from plugin plansys2_open_gripper_bt_ros2_node
[bt_action_node-7] [INFO] [1709653359.415485704] [transport_2]: Registering node from plugin plansys2_move_bt_ros2_node
[bt_action_node-7] [INFO] [1709653359.417339776] [transport_2]: Registering node from plugin plansys2_approach_object_bt_ros2_node
[bt_action_node-6] [INFO] [1709653359.420975304] [transport_1]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/transport.xml]
[bt_action_node-6] [INFO] [1709653359.421012895] [transport_1]: Plugin: [plansys2_close_gripper_bt_ros2_node]
[bt_action_node-6] [INFO] [1709653359.421022413] [transport_1]: Plugin: [plansys2_open_gripper_bt_ros2_node]
[bt_action_node-6] [INFO] [1709653359.421031409] [transport_1]: Plugin: [plansys2_move_bt_ros2_node]
[bt_action_node-6] [INFO] [1709653359.421037851] [transport_1]: Plugin: [plansys2_approach_object_bt_ros2_node]
[bt_action_node-6] [INFO] [1709653359.421254938] [transport_1]: Registering node from plugin plansys2_close_gripper_bt_ros2_node
[bt_action_node-6] [INFO] [1709653359.421628097] [transport_1]: Registering node from plugin plansys2_open_gripper_bt_ros2_node
[bt_action_node-6] [INFO] [1709653359.422626977] [transport_1]: Registering node from plugin plansys2_move_bt_ros2_node
[bt_action_node-6] [INFO] [1709653359.422822063] [transport_1]: Registering node from plugin plansys2_approach_object_bt_ros2_node
[bt_action_node-17] [INFO] [1709653359.425108093] [sleep_service_3]: action_name: [sleep_service]
[bt_action_node-17] [INFO] [1709653359.425206548] [sleep_service_3]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/sleep_service.xml]
[bt_action_node-17] [INFO] [1709653359.425222568] [sleep_service_3]: Plugin: [plansys2_sleep_bt_ros2_node]
[bt_action_node-17] [WARN] [1709653359.429091762] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[bt_action_node-8] [INFO] [1709653359.733822065] [transport_3]: action_name: [transport]
[bt_action_node-8] [INFO] [1709653359.733909679] [transport_3]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/transport.xml]
[bt_action_node-8] [INFO] [1709653359.733926110] [transport_3]: Plugin: [plansys2_close_gripper_bt_ros2_node]
[bt_action_node-8] [INFO] [1709653359.733932802] [transport_3]: Plugin: [plansys2_open_gripper_bt_ros2_node]
[bt_action_node-8] [INFO] [1709653359.733937812] [transport_3]: Plugin: [plansys2_move_bt_ros2_node]
[bt_action_node-8] [INFO] [1709653359.733942470] [transport_3]: Plugin: [plansys2_approach_object_bt_ros2_node]
[bt_action_node-16] [INFO] [1709653359.734235409] [sleep_service_2]: action_name: [sleep_service]
[bt_action_node-16] [INFO] [1709653359.734318364] [sleep_service_2]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/sleep_service.xml]
[bt_action_node-16] [INFO] [1709653359.734335627] [sleep_service_2]: Plugin: [plansys2_sleep_bt_ros2_node]
[bt_action_node-16] [WARN] [1709653359.735197180] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[bt_action_node-8] [INFO] [1709653359.736980870] [transport_3]: Registering node from plugin plansys2_close_gripper_bt_ros2_node
[bt_action_node-8] [INFO] [1709653359.739928390] [transport_3]: Registering node from plugin plansys2_open_gripper_bt_ros2_node
[bt_action_node-8] [INFO] [1709653359.741244474] [transport_3]: Registering node from plugin plansys2_move_bt_ros2_node
[bt_action_node-8] [INFO] [1709653359.743016903] [transport_3]: Registering node from plugin plansys2_approach_object_bt_ros2_node
[bt_action_node-4] [INFO] [1709653359.745221220] [move_2]: action_name: [move]
[bt_action_node-4] [INFO] [1709653359.745307060] [move_2]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/move.xml]
[bt_action_node-4] [INFO] [1709653359.745324854] [move_2]: Plugin: [plansys2_move_bt_ros2_node]
[bt_action_node-4] [INFO] [1709653359.746221683] [move_2]: Registering node from plugin plansys2_move_bt_ros2_node
[bt_action_node-13] [INFO] [1709653359.766899893] [recharge_2]: action_name: [recharge]
[bt_action_node-13] [INFO] [1709653359.767015920] [recharge_2]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/recharge.xml]
[bt_action_node-13] [INFO] [1709653359.767037060] [recharge_2]: Plugin: [plansys2_recharge_bt_ros2_node]
[bt_action_node-13] [INFO] [1709653359.767332212] [recharge_2]: Registering node from plugin plansys2_recharge_bt_ros2_node
[bt_action_node-5] [INFO] [1709653359.768567446] [move_3]: action_name: [move]
[bt_action_node-5] [INFO] [1709653359.768647966] [move_3]: bt_xml_file: [/workspaces/docker-ros2-dev/install/share/plansys2_bt_ros2_example/behavior_trees_xml/move.xml]
[bt_action_node-5] [INFO] [1709653359.768664006] [move_3]: Plugin: [plansys2_move_bt_ros2_node]
[bt_action_node-5] [INFO] [1709653359.769839287] [move_3]: Registering node from plugin plansys2_move_bt_ros2_node
[plansys2_node-1] [INFO] [1709653360.113950271] [domain_expert_lc_mngr]: Creating client for service [domain_expert/get_state]
[plansys2_node-1] [INFO] [1709653360.114093059] [domain_expert_lc_mngr]: Creating client for service [domain_expert/change_state]
[plansys2_node-1] [INFO] [1709653360.116739535] [executor_lc_mngr]: Creating client for service [executor/get_state]
[plansys2_node-1] [INFO] [1709653360.116760784] [executor_lc_mngr]: Creating client for service [executor/change_state]
[plansys2_node-1] [INFO] [1709653360.119187028] [planner_lc_mngr]: Creating client for service [planner/get_state]
[plansys2_node-1] [INFO] [1709653360.119207236] [planner_lc_mngr]: Creating client for service [planner/change_state]
[plansys2_node-1] [INFO] [1709653360.121614974] [problem_expert_lc_mngr]: Creating client for service [problem_expert/get_state]
[plansys2_node-1] [INFO] [1709653360.121635072] [problem_expert_lc_mngr]: Creating client for service [problem_expert/change_state]
[plansys2_node-1] [INFO] [1709653360.124213199] [domain_expert]: [domain_expert] Configuring...
[plansys2_node-1] [INFO] [1709653360.126013099] [domain_expert]: Writing domain validation results to /tmp.
[plansys2_node-1] [INFO] [1709653360.268609373] [domain_expert]: [domain_expert] Configured
[plansys2_node-1] [INFO] [1709653360.269061098] [domain_expert_lc_mngr]: Transition 1 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.269891503] [domain_expert_lc_mngr]: Node domain_expert_lc_mngr has current state inactive.
[plansys2_node-1] [INFO] [1709653360.270158543] [problem_expert]: [problem_expert] Configuring...
[plansys2_node-1] [INFO] [1709653360.270606582] [problem_expert]: [problem_expert] Configured
[plansys2_node-1] [INFO] [1709653360.270752435] [problem_expert_lc_mngr]: Transition 1 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.271456974] [problem_expert_lc_mngr]: Node problem_expert_lc_mngr has current state inactive.
[plansys2_node-1] [INFO] [1709653360.271614339] [planner]: [planner] Configuring...
[plansys2_node-1] [INFO] [1709653360.272534462] [planner]: Created solver : POPF of type plansys2/POPFPlanSolver
[plansys2_node-1] [INFO] [1709653360.280652554] [planner]: [planner] Configured
[plansys2_node-1] [INFO] [1709653360.280943679] [planner_lc_mngr]: Transition 1 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.281310717] [planner_lc_mngr]: Node planner_lc_mngr has current state inactive.
[plansys2_node-1] [INFO] [1709653360.281478641] [executor]: [executor] Configuring...
[plansys2_node-1] [INFO] [1709653360.333376470] [executor]: [executor] Configured
[plansys2_node-1] [INFO] [1709653360.333773674] [executor_lc_mngr]: Transition 1 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.334206464] [executor_lc_mngr]: Node executor_lc_mngr has current state inactive.
[plansys2_node-1] [INFO] [1709653360.334696381] [domain_expert]: [domain_expert] Activating...
[plansys2_node-1] [INFO] [1709653360.334713694] [domain_expert]: [domain_expert] Activated
[plansys2_node-1] [INFO] [1709653360.334833518] [domain_expert_lc_mngr]: Transition 3 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.335084178] [problem_expert]: [problem_expert] Activating...
[plansys2_node-1] [INFO] [1709653360.335104686] [problem_expert]: [problem_expert] Activated
[plansys2_node-1] [INFO] [1709653360.335238597] [problem_expert_lc_mngr]: Transition 3 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.335443631] [planner]: [planner] Activating...
[plansys2_node-1] [INFO] [1709653360.335458208] [planner]: [planner] Activated
[plansys2_node-1] [INFO] [1709653360.335582972] [planner_lc_mngr]: Transition 3 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.335785641] [executor]: [executor] Activating...
[plansys2_node-1] [INFO] [1709653360.335801962] [executor]: [executor] Activated
[plansys2_node-1] [INFO] [1709653360.335911948] [executor_lc_mngr]: Transition 3 successfully triggered.
[plansys2_node-1] [INFO] [1709653360.336143631] [domain_expert_lc_mngr]: Node domain_expert_lc_mngr has current state active.
[plansys2_node-1] [INFO] [1709653360.336469181] [problem_expert_lc_mngr]: Node problem_expert_lc_mngr has current state active.
[plansys2_node-1] [INFO] [1709653360.336690245] [planner_lc_mngr]: Node planner_lc_mngr has current state active.
[plansys2_node-1] [INFO] [1709653360.336910017] [executor_lc_mngr]: Node executor_lc_mngr has current state active.
[plansys2_node-1] [INFO] [1709653367.349991046] [planner]: Writing planning results to /tmp.
[plansys2_node-1] [INFO] [1709653367.449568436] [executor]: Action move timeout percentage -1.000000
[plansys2_node-1] [INFO] [1709653367.451331097] [executor]: Action recharge timeout percentage -1.000000
[plansys2_node-1] [INFO] [1709653367.453327926] [executor]: Action move timeout percentage -1.000000
[plansys2_node-1] [INFO] [1709653367.455591224] [executor]: Action transport timeout percentage -1.000000
[plansys2_node-1] [INFO] [1709653367.457704350] [executor]: Action sleep_service timeout percentage -1.000000
[plansys2_node-1] [WARN] [1709653367.461795210] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[plansys2_node-1] [WARN] [1709653367.480850612] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[bt_action_node-5] [INFO] [1709653367.511456583] [move_3]: "move" BtActionNode initialized
[bt_action_node-5] [INFO] [1709653367.712316876] [move_3]: Missing input port [server_timeout], using default value of 5s
[bt_action_node-5] [INFO] [1709653367.717902486] [move_3]: Waiting for "navigate_to_pose" action server
[bt_action_node-5] [INFO] [1709653367.718328794] [move_3]: Sending goal to action server navigate_to_pose
[bt_action_node-12] Recharge tick 0
[bt_action_node-12] Recharge tick 1
[bt_action_node-12] Recharge tick 2
[bt_action_node-12] Recharge tick 3
[bt_action_node-12] Recharge tick 4
[bt_action_node-12] Recharge tick 5
[bt_action_node-12] Recharge tick 6
[bt_action_node-12] Recharge tick 7
[bt_action_node-12] Recharge tick 8
[bt_action_node-12] Recharge tick 9
[bt_action_node-12] Recharge tick 10
[bt_action_node-12] Recharge halt
[bt_action_node-3] [INFO] [1709653373.312561804] [move_1]: "move" BtActionNode initialized
[bt_action_node-3] [INFO] [1709653373.513238994] [move_1]: Missing input port [server_timeout], using default value of 5s
[bt_action_node-3] [INFO] [1709653373.518098172] [move_1]: Waiting for "navigate_to_pose" action server
[bt_action_node-3] [INFO] [1709653373.518476711] [move_1]: Sending goal to action server navigate_to_pose
[bt_action_node-7] [INFO] [1709653384.612549222] [transport_2]: "move" BtActionNode initialized
[bt_action_node-7] OpenGripper tick 0
[bt_action_node-7] OpenGripper tick 1
[bt_action_node-7] OpenGripper tick 2
[bt_action_node-7] OpenGripper tick 3
[bt_action_node-7] OpenGripper tick 4
[bt_action_node-7] OpenGripper tick 5
[bt_action_node-7] ApproachObject tick 0
[bt_action_node-7] ApproachObject tick 1
[bt_action_node-7] ApproachObject tick 2
[bt_action_node-7] ApproachObject tick 3
[bt_action_node-7] ApproachObject tick 4
[bt_action_node-7] ApproachObject tick 5
[bt_action_node-7] CloseGripper tick 0
[bt_action_node-7] CloseGripper tick 1
[bt_action_node-7] CloseGripper tick 2
[bt_action_node-7] CloseGripper tick 3
[bt_action_node-7] CloseGripper tick 4
[bt_action_node-7] CloseGripper tick 5
[bt_action_node-7] [INFO] [1709653387.813153763] [transport_2]: Missing input port [server_timeout], using default value of 5s
[bt_action_node-7] [INFO] [1709653387.818856442] [transport_2]: Waiting for "navigate_to_pose" action server
[bt_action_node-7] [INFO] [1709653387.819311675] [transport_2]: Sending goal to action server navigate_to_pose
[bt_action_node-7] OpenGripper tick 0
[bt_action_node-7] OpenGripper tick 1
[bt_action_node-7] OpenGripper tick 2
[bt_action_node-7] OpenGripper tick 3
[bt_action_node-7] OpenGripper tick 4
[bt_action_node-7] OpenGripper tick 5
[bt_action_node-7] OpenGripper halt
[bt_action_node-7] ApproachObject halt
[bt_action_node-7] CloseGripper halt
[bt_action_node-7] OpenGripper halt
[bt_action_node-15] [INFO] [1709653405.116993385] [sleep_service_1]: sleep_service: setGoal. msec_timeout = 5000
[sleep_server-2] [INFO] [1709653405.117415736] [sleep_server]: Received goal request with sleep time 5000
[sleep_server-2] [INFO] [1709653405.117693316] [sleep_server]: Executing goal
[sleep_server-2] [INFO] [1709653405.117765070] [sleep_server]: Publish feedback
[sleep_server-2] [INFO] [1709653405.317835391] [sleep_server]: Publish feedback
[sleep_server-2] [INFO] [1709653405.517821365] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653405.717001349] [sleep_service_1]: Cycle = 2
[sleep_server-2] [INFO] [1709653405.717836302] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653405.916966173] [sleep_service_1]: Cycle = 3
[sleep_server-2] [INFO] [1709653405.917821244] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653406.117003452] [sleep_service_1]: Cycle = 4
[sleep_server-2] [INFO] [1709653406.117836091] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653406.317007340] [sleep_service_1]: Cycle = 5
[sleep_server-2] [INFO] [1709653406.317837635] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653406.517002009] [sleep_service_1]: Cycle = 6
[sleep_server-2] [INFO] [1709653406.517835429] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653406.717009193] [sleep_service_1]: Cycle = 7
[sleep_server-2] [INFO] [1709653406.717846080] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653406.916958988] [sleep_service_1]: Cycle = 8
[sleep_server-2] [INFO] [1709653406.917834487] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653407.116995877] [sleep_service_1]: Cycle = 9
[sleep_server-2] [INFO] [1709653407.117834478] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653407.316990095] [sleep_service_1]: Cycle = 10
[sleep_server-2] [INFO] [1709653407.317836300] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653407.516992310] [sleep_service_1]: Cycle = 11
[sleep_server-2] [INFO] [1709653407.517838284] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653407.716988822] [sleep_service_1]: Cycle = 12
[sleep_server-2] [INFO] [1709653407.717829497] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653407.916960941] [sleep_service_1]: Cycle = 13
[sleep_server-2] [INFO] [1709653407.917828616] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653408.116990966] [sleep_service_1]: Cycle = 14
[sleep_server-2] [INFO] [1709653408.117819337] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653408.316980285] [sleep_service_1]: Cycle = 15
[sleep_server-2] [INFO] [1709653408.317831389] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653408.516987299] [sleep_service_1]: Cycle = 16
[sleep_server-2] [INFO] [1709653408.517830307] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653408.717002025] [sleep_service_1]: Cycle = 17
[sleep_server-2] [INFO] [1709653408.717839233] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653408.916962742] [sleep_service_1]: Cycle = 18
[sleep_server-2] [INFO] [1709653408.917839193] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653409.116997506] [sleep_service_1]: Cycle = 19
[sleep_server-2] [INFO] [1709653409.117838030] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653409.316987887] [sleep_service_1]: Cycle = 20
[sleep_server-2] [INFO] [1709653409.317839091] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653409.516982848] [sleep_service_1]: Cycle = 21
[sleep_server-2] [INFO] [1709653409.517840013] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653409.716998206] [sleep_service_1]: Cycle = 22
[sleep_server-2] [INFO] [1709653409.717836586] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653409.916954293] [sleep_service_1]: Cycle = 23
[sleep_server-2] [INFO] [1709653409.917833639] [sleep_server]: Publish feedback
[bt_action_node-15] [INFO] [1709653410.116991683] [sleep_service_1]: Cycle = 24
[sleep_server-2] [INFO] [1709653410.117879786] [sleep_server]: Goal succeeded
[bt_action_node-15] [INFO] [1709653410.517034281] [sleep_service_1]: sleep_service: onResultReceived. Done = true
[plansys2_node-1] [INFO] [1709653410.709949604] [executor]: Plan Succeeded

[fmrico]

yes, please, go ahead with a PR