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bt_tutorials_ros2

Overview

This package provides fully documented, runnable examples of the ROS 2 integration tutorials from the official BehaviorTree.CPP documentation, allowing users to test, modify, and extend these examples in their own projects. Specifically, the following two nodes are created:

  • Fibonacci Action Client: A BehaviorTree client node interacting with the \fibonacci action server from the official ROS2 examples.
  • AddTwoInts Service Client: A BehaviorTree client node interacting with the \add_two_ints service server from the official ROS2 examples.

Requirements

  • C++17: Required for building the package.
  • ROS 2: Tested on ROS 2 Humble.
  • BehaviorTree.CPP: Version 4.0 or higher.
  • BehaviorTree.ROS, i.e. this repo.

Compiling

Compile using colcon, for instance as:

colcon build --packages-select bt_tutorials_ros2

Running

Fibonacci Action Client

Ensure the /fibonacci action server is running. This server is typically included with the ROS 2 installation and can be started using the following command:

ros2 run action_tutorials_cpp fibonacci_action_server

If the server is not available, you can follow the official ROS 2 tutorial here to compile and run it.

Once the action server is up, you can run the Fibonacci BehaviorTree action client node with:

ros2 run bt_tutorials_ros2 bt_tutorials_ros2_action_client_node

AddTwoInts Service Client

Ensure the /add_two_ints service server is running. You can implement, compile, and run the server following the official ROS 2 tutorial here. For example, you can run the server with:

ros2 run cpp_srvcli server

Once the service server is up, you can run the AddTwoInts BehaviorTree service client node with:

ros2 run bt_tutorials_ros2 bt_tutorials_ros2_service_client_node

Author

Janak Panthi (Crasun Jans)