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v4.1 #6

Closed
wants to merge 31 commits into from
Closed

v4.1 #6

wants to merge 31 commits into from

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vicmassy
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vicmassy and others added 30 commits November 29, 2022 09:28
@vicmassy
Migrate nav2 wrapper
7fd2df9
@vicmassy
Add method to register BT action nodes
3a79b28
@vicmassy
Replace setStatus IDLE with resetStatus
b8267ab
@vicmassy
Add PipelineSequence control node
2be5834
@vicmassy
Add PipelineSequence control node
ee14d63
@vicmassy
Add resgister node for BT service nodes
0806dd2
@vicmassy
Fix typo with the register bt action method
3e2d62a
@vicmassy
Add rate_controller decorator
d963d36
@sergigraum
Merge pull request #1 from umdlife/feat/bt-4.0-UP-1804
561d8cc 
Migrate current nav2 BT wrapper with small tweaks
@vicmassy
Add function to register subtrees
3b995aa
@vicmassy
Migrate to new bt_action_node
2a2023b
@vicmassy
Restore official version
a0dc593
@vicmassy
Merge with v4 branch
6d6cce4
@vicmassy
Add wrapper for ROSService as a BT Action plugin
aa42fcd
@vicmassy
Add wrapper for topics and services
0df32f4
@vicmassy
Fix typo in onFeedback function call
0da0160
@vicmassy
Fix minor problem with bt_topic_node to spin just the callback
1c40346
@vicmassy
Fix typo in the include headers
7a0adbf
@vicmassy
Add dynamic server_name for the action, service and topic wrappers
7e3ad02
@vicmassy
Add wrapper for publisher
7ef65ed
@vicmassy
Add legacy engine for backward compatibility
ad3f5ab
@vicmassy
Remove flooding of unnecessary prints
2ad0ef7
@sergigraum
Merge pull request #2 from umdlife/feat/mission-core-UP-1927
f7b79c9 
Implement new BT.ROS2 wrapper
@vicmassy
Merge with latest v4
dd3e1cc
@vicmassy
Refactor bt_action_node
87d011f
@vicmassy
Fix CMake
91c2956
@vicmassy
Fix Port input error and single threaded executor
5f95cb4
@vicmassy
Update wrapper to take default values as ROS params
ea31814
@vicmassy
Install include directory
cb73952
@vicmassy
Remove legacy code
7898ba9
@facontidavide facontidavide marked this pull request as ready for review March 21, 2023 11:12
facontidavide added a commit that referenced this pull request Mar 26, 2023
@facontidavide
chery picking from #6
c2bb8ae
@facontidavide facontidavide deleted the branch BehaviorTree:v4 March 26, 2023 16:09
@facontidavide
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Thanks for the contribution.

I decided for the time being to include only a few of the proposed changes.
The PR was wayyy to big and a lot things should be discussed, one by one.

I did my best to improve the comments/doxygen and to preserve the original spirit of the PR, but there are few notable changes:

  • spinning should ALWAYS be nodelay, according to the "rules" of asynchronous actions.
  • in the topic subscriber, I added virtual to topicCallback, because I can imagine users wanting to access all the instances.

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3 participants
@vicmassy @facontidavide @sergigraum