Draft: Add ros_bt_py technology info + examples #41
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Signed-off-by: David Oberacker <[email protected]>
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I could get this all running! Took me a while to figure out how to properly set a String constant and connect it, but it worked.
While things were building, I read through and found a few typos. Plus, maybe one thing to clarify in the code.
Also, you may need to run pre-commit still, as there are formatting errors.
| @@ -8,7 +8,7 @@ export PYTHONWARNINGS="ignore:setup.py install is deprecated,ignore:easy_install | |||
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| export ROS_WS=/delib_ws | |||
| export WORKSPACE_ROOT=$ROS_WS # For FlexBE compatibility | |||
| export ROS_DOMAIN_ID=0 | |||
| export ROS_DOMAIN_ID=66 | |||
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do not commit? (or rather, we need to fix this)
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| To get started with `ros_bt_py` as part of the workshop no additonal packages would be required. | ||
| We provide generic nodes for interacting with ROS Topics, Services and Actions, which only require having the messages available in your environment when starting `ros_bt_py`. | ||
| Nevertheless we provided the `ros_bt_py_pyrobosim` package containing some additonal nodes, providing convinience wrappers, making interacting with `pyrobosim` simpler. |
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| Nevertheless we provided the `ros_bt_py_pyrobosim` package containing some additonal nodes, providing convinience wrappers, making interacting with `pyrobosim` simpler. | |
| Nevertheless we provided the `ros_bt_py_pyrobosim` package containing some additional nodes, providing convenience wrappers, making interacting with `pyrobosim` simpler. |
| ros2 run delib_ws_worlds run --ros-args -p problem_number:=1 | ||
| ``` | ||
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| To run `ros_bt_py` with these convinience nodes you need to run: |
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| To run `ros_bt_py` with these convinience nodes you need to run: | |
| To run `ros_bt_py` with these convenience nodes you need to run: |
| ros2 launch ros_bt_py_pyrobosim ros_bt_py_pyrobosim.launch.py | ||
| ``` | ||
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| Alternativly, to launch the regular `ros_bt_py` without any additional nodes run: |
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| Alternativly, to launch the regular `ros_bt_py` without any additional nodes run: | |
| Alternatively, to launch the regular `ros_bt_py` without any additional nodes run: |
technologies/ros_bt_py/README.md
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| The WebUI has four distinct sections: | ||
| * On the left you have the list of available nodes. | ||
| These can be moved into the main editing area at the center to add them to the tree. | ||
| Some nodes (e.g. EnumConstant) require you to click on the node in the list and add required details at the bottom of the editing window before they can be added to the tree via the `AddToTree` button. |
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| Some nodes (e.g. EnumConstant) require you to click on the node in the list and add required details at the bottom of the editing window before they can be added to the tree via the `AddToTree` button. | |
| Some nodes (e.g. `EnumConstant`) require you to click on the node in the list and add required details at the bottom of the editing window before they can be added to the tree via the `AddToTree` button. |
| - [ ] Provide example solutiont trees for all problems. | ||
| - [ ] Add convinience nodes for pyrobosim interaction. |
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| - [ ] Provide example solutiont trees for all problems. | |
| - [ ] Add convinience nodes for pyrobosim interaction. | |
| - [ ] Provide example solution trees for all problems. | |
| - [ ] Add convenience nodes for pyrobosim interaction. |
| def set_outputs(self): | ||
| response: RequestWorldState.Response = self._service_request_future.result() | ||
| robot_with_matching_name: List[RobotState] = [robot for robot in response.state.robots if robot.name == self.inputs["robot_name"]] | ||
| if len(robot_with_matching_name) != 1: |
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Not necessarily true; if this is 0, then the robot was not found, right?
| self.logerr("Found more then one matching robot!") | ||
| raise BehaviorTreeException("Found more then one matching robot!") |
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| self.logerr("Found more then one matching robot!") | |
| raise BehaviorTreeException("Found more then one matching robot!") | |
| message = "Found more than one matching robot!" | |
| self.logerr(message) | |
| raise BehaviorTreeException(message) |
either way note the typo: "then" -> "than"
| if len(obj_with_matching_name) != 1: | ||
| self.logerr("Found something other than one matching object!") |
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For this one, the error message is correct in that it's just "other than one" -- but it might still be nice to separate the empty vs. multiple-element case
(although, PyRoboSim should not let you add duplicate objects and robots with the same name, it's still good to have)
| [develop] | ||
| script_dir=$base/lib/roscon2024_delib_ws_bt | ||
| [install] | ||
| install_scripts=$base/lib/roscon2024_delib_ws_bt |
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Did this package get renamed? roscon2024_delib_ws_bt is not the name of the package, and these files typically use the same name as the package, right?
Signed-off-by: David Oberacker <[email protected]>
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