2nd Edition update

.github/workflows/rolling.yaml

@@ -21,11 +21,11 @@ jobs:
         run: sudo apt-get install libfl-dev
       - uses: actions/checkout@v2
       - name: Setup ROS 2
-        uses: ros-tooling/[email protected].9
+        uses: ros-tooling/[email protected].13
         with:
           required-ros-distributions: rolling
       - name: build and test
-        uses: ros-tooling/action-ros-ci@0.3.15
+        uses: ros-tooling/action-ros-ci@0.4.3
         with:
           package-name: br2_basics br2_bt_bumpgo br2_bt_patrolling br2_fsm_bumpgo_cpp br2_fsm_bumpgo_py br2_navigation br2_tf2_detector br2_tiago br2_tracking br2_tracking_msgs br2_vff_avoidance
           target-ros2-distro: rolling
@@ -35,4 +35,4 @@ jobs:
               "test": {
                 "parallel-workers" : 1
               }
-            }
+            }

br2_basics/CMakeLists.txt

@@ -1,35 +1,37 @@
 cmake_minimum_required(VERSION 3.5)
 project(br2_basics)
 
+set(CMAKE_CXX_STANDARD 23)
+
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 
 set(dependencies
-    rclcpp
-    std_msgs
+  rclcpp::rclcpp
+  ${std_msgs_TARGETS}
 )
 
 add_executable(publisher src/publisher.cpp)
-ament_target_dependencies(publisher ${dependencies})
+target_link_libraries(publisher ${dependencies})
 
 add_executable(publisher_class src/publisher_class.cpp)
-ament_target_dependencies(publisher_class ${dependencies})
+target_link_libraries(publisher_class ${dependencies})
 
 add_executable(subscriber_class src/subscriber_class.cpp)
-ament_target_dependencies(subscriber_class ${dependencies})
+target_link_libraries(subscriber_class ${dependencies})
 
 add_executable(executors src/executors.cpp)
-ament_target_dependencies(executors ${dependencies})
+target_link_libraries(executors ${dependencies})
 
 add_executable(logger src/logger.cpp)
-ament_target_dependencies(logger ${dependencies})
+target_link_libraries(logger ${dependencies})
 
 add_executable(logger_class src/logger_class.cpp)
-ament_target_dependencies(logger_class ${dependencies})
+target_link_libraries(logger_class ${dependencies})
 
 add_executable(param_reader src/param_reader.cpp)
-ament_target_dependencies(param_reader ${dependencies})
+target_link_libraries(param_reader ${dependencies})
 
 install(TARGETS
   publisher
@@ -51,5 +53,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_dependencies(${dependencies})
 ament_package()

br2_bt_bumpgo/CMakeLists.txt

@@ -1,36 +1,35 @@
 cmake_minimum_required(VERSION 3.5)
 project(br2_bt_bumpgo)
 
+set(CMAKE_CXX_STANDARD 23)
+
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 
-find_package(ZMQ)
-if(ZMQ_FOUND)
-    message(STATUS "ZeroMQ found.")
-    add_definitions(-DZMQ_FOUND)
-else()
-  message(WARNING "ZeroMQ NOT found. Not including PublisherZMQ.")
-endif()
-
-set(CMAKE_CXX_STANDARD 17)
 
 set(dependencies
+    rclcpp::rclcpp
+    behaviortree_cpp::behaviortree_cpp
+    ament_index_cpp::ament_index_cpp
+    ${sensor_msgs_TARGETS}
+    ${geometry_msgs_TARGETS}
+)
+
+set(export_dependencies
     rclcpp
-    behaviortree_cpp_v3
+    behaviortree_cpp
+    ament_index_cpp
     sensor_msgs
     geometry_msgs
-    ament_index_cpp
 )
 
-include_directories(include ${ZMQ_INCLUDE_DIRS})
-
 add_library(br2_forward_bt_node SHARED src/br2_bt_bumpgo/Forward.cpp)
 add_library(br2_back_bt_node SHARED src/br2_bt_bumpgo/Back.cpp)
 add_library(br2_turn_bt_node SHARED src/br2_bt_bumpgo/Turn.cpp)
@@ -44,24 +43,28 @@ list(APPEND plugin_libs
 )
 
 foreach(bt_plugin ${plugin_libs})
-  ament_target_dependencies(${bt_plugin} ${dependencies})
+  target_include_directories(${bt_plugin} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+  )
+  target_link_libraries(${bt_plugin} ${dependencies})
   target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
 endforeach()
 
 add_executable(bt_bumpgo src/bt_bumpgo_main.cpp)
-ament_target_dependencies(bt_bumpgo ${dependencies})
-target_link_libraries(bt_bumpgo ${ZMQ_LIBRARIES})
+target_link_libraries(bt_bumpgo ${dependencies})
 
 install(TARGETS
   ${plugin_libs}
   bt_bumpgo
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY include/
-  DESTINATION include/
+  DESTINATION include/${PROJECT_NAME}
 )
 
 install(DIRECTORY behavior_tree_xml
@@ -81,7 +84,9 @@ if(BUILD_TESTING)
   add_subdirectory(tests)
 endif()
 
-ament_export_include_directories(include)
-ament_export_dependencies(${dependencies})
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_libraries(${bt_plugin})
+ament_export_dependencies(${export_dependencies})
+ament_export_targets(export_${PROJECT_NAME})
 
 ament_package()

br2_bt_bumpgo/behavior_tree_xml/bumpgo.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="BehaviorTree">
+<root BTCPP_format="4" main_tree_to_execute="BehaviorTree">
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <ReactiveSequence>

br2_bt_bumpgo/include/br2_bt_bumpgo/Back.hpp

@@ -17,8 +17,8 @@
 
 #include <string>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"

br2_bt_bumpgo/include/br2_bt_bumpgo/Forward.hpp

@@ -17,8 +17,8 @@
 
 #include <string>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"

br2_bt_bumpgo/include/br2_bt_bumpgo/IsObstacle.hpp

@@ -17,8 +17,8 @@
 
 #include <string>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "rclcpp/rclcpp.hpp"

br2_bt_bumpgo/include/br2_bt_bumpgo/Turn.hpp

@@ -17,8 +17,8 @@
 
 #include <string>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"

br2_bt_bumpgo/package.xml

@@ -10,7 +10,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>libzmq3-dev</depend>

br2_bt_bumpgo/src/br2_bt_bumpgo/Back.cpp

@@ -17,7 +17,7 @@
 
 #include "br2_bt_bumpgo/Back.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -32,7 +32,7 @@ Back::Back(
   const BT::NodeConfiguration & conf)
 : BT::ActionNodeBase(xml_tag_name, conf)
 {
-  config().blackboard->get("node", node_);
+  [[maybe_unused]] bool success = config().blackboard->get("node", node_);
 
   vel_pub_ = node_->create_publisher<geometry_msgs::msg::Twist>("/output_vel", 100);
 }
@@ -64,7 +64,7 @@ Back::tick()
 
 }  // namespace br2_bt_bumpgo
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<br2_bt_bumpgo::Back>("Back");

br2_bt_bumpgo/src/br2_bt_bumpgo/Forward.cpp

@@ -17,7 +17,7 @@
 
 #include "br2_bt_bumpgo/Forward.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -32,7 +32,7 @@ Forward::Forward(
   const BT::NodeConfiguration & conf)
 : BT::ActionNodeBase(xml_tag_name, conf)
 {
-  config().blackboard->get("node", node_);
+  [[maybe_unused]] bool success = config().blackboard->get("node", node_);
 
   vel_pub_ = node_->create_publisher<geometry_msgs::msg::Twist>("/output_vel", 100);
 }
@@ -49,7 +49,7 @@ Forward::tick()
 
 }  // namespace br2_bt_bumpgo
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<br2_bt_bumpgo::Forward>("Forward");

br2_bt_bumpgo/src/br2_bt_bumpgo/IsObstacle.cpp

@@ -17,7 +17,7 @@
 
 #include "br2_bt_bumpgo/IsObstacle.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -33,7 +33,7 @@ IsObstacle::IsObstacle(
   const BT::NodeConfiguration & conf)
 : BT::ConditionNode(xml_tag_name, conf)
 {
-  config().blackboard->get("node", node_);
+  [[maybe_unused]] bool success = config().blackboard->get("node", node_);
 
   laser_sub_ = node_->create_subscription<sensor_msgs::msg::LaserScan>(
     "/input_scan", 100, std::bind(&IsObstacle::laser_callback, this, _1));
@@ -66,7 +66,7 @@ IsObstacle::tick()
 
 }  // namespace br2_bt_bumpgo
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<br2_bt_bumpgo::IsObstacle>("IsObstacle");

br2_bt_bumpgo/src/br2_bt_bumpgo/Turn.cpp

@@ -17,7 +17,7 @@
 
 #include "br2_bt_bumpgo/Turn.hpp"
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -32,7 +32,7 @@ Turn::Turn(
   const BT::NodeConfiguration & conf)
 : BT::ActionNodeBase(xml_tag_name, conf)
 {
-  config().blackboard->get("node", node_);
+  [[maybe_unused]] bool success = config().blackboard->get("node", node_);
 
   vel_pub_ = node_->create_publisher<geometry_msgs::msg::Twist>("/output_vel", 100);
 }
@@ -64,7 +64,7 @@ Turn::tick()
 
 }  // namespace br2_bt_bumpgo
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<br2_bt_bumpgo::Turn>("Turn");

br2_bt_bumpgo/src/bt_bumpgo_main.cpp

@@ -15,10 +15,9 @@
 #include <string>
 #include <memory>
 
-#include "behaviortree_cpp_v3/behavior_tree.h"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
-#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 
@@ -46,13 +45,11 @@ int main(int argc, char * argv[])
   blackboard->set("node", node);
   BT::Tree tree = factory.createTreeFromFile(xml_file, blackboard);
 
-  auto publisher_zmq = std::make_shared<BT::PublisherZMQ>(tree, 10, 1666, 1667);
-
   rclcpp::Rate rate(10);
 
   bool finish = false;
   while (!finish && rclcpp::ok()) {
-    finish = tree.rootNode()->executeTick() != BT::NodeStatus::RUNNING;
+    finish = tree.tickOnce() != BT::NodeStatus::RUNNING;
 
     rclcpp::spin_some(node);
     rate.sleep();

br2_bt_bumpgo/tests/CMakeLists.txt

@@ -1,10 +1,9 @@
 
 ament_add_gtest(bt_action_test bt_action_test.cpp)
-ament_target_dependencies(bt_action_test ${dependencies})
+target_link_libraries(bt_action_test ${dependencies})
 
 add_executable(bt_forward bt_forward_main.cpp)
-ament_target_dependencies(bt_forward ${dependencies})
-target_link_libraries(bt_forward ${ZMQ_LIBRARIES})
+target_link_libraries(bt_forward ${dependencies})
 
 install(TARGETS
   bt_forward