Skip to content

Just groot migration and params #121

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 6 commits into from
Dec 9, 2020
Merged

Just groot migration and params #121

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
6739322
add Groot to foxy migration guide
gramss Oct 15, 2020
6f4299e
add groot monitoring parameters to documentation
gramss Sep 27, 2020
88ab104
Update Migration
gramss Dec 9, 2020
4d86c1e
update bt_navigator params
gramss Dec 9, 2020
b28a764
fixes
gramss Dec 9, 2020
e1e1f7e
make params just 2 columns :)
gramss Dec 9, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
39 changes: 39 additions & 0 deletions configuration/packages/configuring-bt-navigator.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,42 @@ Parameters
Description
List of behavior tree node shared libraries.

:enable_groot_monitoring:

==== =======
Type Default
---- -------
bool true
==== =======

Description
Enable live Groot monitoring of the current BT status.
This is possible due to attaching a ZMQ server and publisher to the active behavior tree.

**Attention:** Groot will only work after the behavior tree is running, which means that the nav2 stack has to receive a goal first.

:groot_zmq_publisher_port:

====== =======
Type Default
------ -------
int 1666
====== =======

Description
ZMQ publisher port for the Groot monitor. Used to consecutive publish the current status of the BT as flatbuffer.

:groot_zmq_server_port:

====== =======
Type Default
------ -------
int 1667
====== =======

Description
ZMQ server port for the Groot monitor. Used to send the current bt factory + configuration as flatbuffer on an (empty) request by Groot.

:transform_tolerance:

====== ======= =======
Expand Down Expand Up @@ -118,6 +154,9 @@ Example
global_frame: map
robot_base_frame: base_link
transform_tolerance: 0.1
enable_groot_monitoring: True
groot_zmq_publisher_port: 1666
groot_zmq_server_port: 1667
bt_xml_filename: replace/with/path/to/bt.xml
plugin_lib_names:
- nav2_compute_path_to_pose_action_bt_node
Expand Down
8 changes: 8 additions & 0 deletions migration/Foxy.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,14 @@ BackUp Recovery Interface Changes
``target.x`` in a backup recovery goal should be positive indicating the distance to drive backward.
In both cases negative values are silently inverted.

Groot Support
*************

Live Monitoring and Editing of behavior trees with Groot is now possible.
Switching bt-xmls on the fly through a new goal request is also included.
This is all done without breaking any APIs.
Enabled by default.

New Plugins
***********

Expand Down