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Added behaviour_tree as input to action nodes #2952

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Merged
SteveMacenski merged 4 commits into from
May 16, 2022
Merged

Added behaviour_tree as input to action nodes #2952

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7ef8a23
added BT as input to action node
May 16, 2022
031ec39
fix format
May 16, 2022
9756f85
Update navigate_to_pose_action.cpp
May 16, 2022
65608e3
Update navigate_through_poses_action.cpp
May 16, 2022
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1 change: 1 addition & 0 deletions ...behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,7 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
return providedBasicPorts(
{
BT::InputPort<geometry_msgs::msg::PoseStamped>("goals", "Destinations to plan through"),
BT::InputPort<geometry_msgs::msg::PoseStamped>("behavior_tree", "Behavior tree to run"),
});
}
};
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1 change: 1 addition & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp
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Expand Up @@ -56,6 +56,7 @@ class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPo
return providedBasicPorts(
{
BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
BT::InputPort<geometry_msgs::msg::PoseStamped>("behavior_tree", "Behavior tree to run"),
});
}
};
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2 changes: 2 additions & 0 deletions nav2_behavior_tree/nav2_tree_nodes.xml
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Expand Up @@ -101,12 +101,14 @@
<input_port name="goal">Goal</input_port>
<input_port name="service_name">Service name</input_port>
<input_port name="server_timeout">Server timeout</input_port>
<input_port name="behavior_tree">Behavior tree to run</input_port>
</Action>

<Action ID="NavigateThroughPoses">
<input_port name="goals">Goals</input_port>
<input_port name="service_name">Service name</input_port>
<input_port name="server_timeout">Server timeout</input_port>
<input_port name="behavior_tree">Behavior tree to run</input_port>
</Action>

<Action ID="ReinitializeGlobalLocalization">
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1 change: 1 addition & 0 deletions nav2_behavior_tree/plugins/action/navigate_through_poses_action.cpp
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Expand Up @@ -36,6 +36,7 @@ void NavigateThroughPosesAction::on_tick()
"NavigateThroughPosesAction: goal not provided");
return;
}
getInput("behavior_tree", goal_.behavior_tree);
}

} // namespace nav2_behavior_tree
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1 change: 1 addition & 0 deletions nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp
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Expand Up @@ -36,6 +36,7 @@ void NavigateToPoseAction::on_tick()
"NavigateToPoseAction: goal not provided");
return;
}
getInput("behavior_tree", goal_.behavior_tree);
}

} // namespace nav2_behavior_tree
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