BehaviorTree.ROS2

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add payloads to Action

1

The main goal of this PR is to support users that want to send and receive more comple payloads, when executing a Tree (arguments and return values). A single string...

facontidavide

Hi Thank you for providing such great library. I am currently implemented to behaviors in ros2 and now i designed a behavior tree using back-chaining method. My problem is that...

h-sh-h

Action/Server timeout option through ports

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This PR adds the option for users to set `server_timeout` and `wait_for_server_timeout` through ports specified in the XML file.

MarqRazz

Having a Service node and Action node within the same ReactiveSequence

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I'm currently refactoring our behavior trees to use these base classes in our merge to BTV4. Currently I've reached an issue where we have this ReactiveSequence ``` ``` Both the...

rebeccaRossRobotics

Error when canceling action during halt()

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I'm running in a weird behavior when trying to halting an action node. Setup: BehaviorTree.ROS2 branch humble [bb0d510](https://github.com/BehaviorTree/BehaviorTree.ROS2/commit/bb0d510e46e12e90453527b16fbf887cf6662ad1) BehaviorTree.CPP branch master [acbc707](https://github.com/BehaviorTree/BehaviorTree.CPP/commit/acbc7076845b84ea4f8c6b879cf04282793f9a5f) Structure: ws |- BehaviorTree.ROS2 |- BehaviorTree.CPP |- test...

MatteoAlbi

Allow override of QoS for RosTopicSubNode and RosTopicPubNode

1

Users should have a mechanism to override QoS when subscribing / publishing for topics. @facontidavide would you prefer this to be done over the blackboard, at compilation time in the...

PymZoR

onFeedback for bt_action_node is not receiving feedback

6

When creating a custom RosActionNode and overriding the onFeedback method, the method is never called. Here is an example: The .hpp file ``` #pragma once #include #include #include "behaviortree_cpp/action_node.h" #include...

marj3220

onFeedback for ROS

1

Hey guys, anyone know if there could be a similar onFeedback function as in ROS2 OR I need to abandon BehaviorTree.ROS and implement Action(goal result feedback ,all by myself) by...

Royboy1998

I stumbled over a use-case where a service call is taking longer than 1 second. I do not want to globally increase the service timeout over the BT::RosNodeParams parameter as...

fmros

High CPU Usage with ROS Action BT Nodes

3

# Bug Report ## Required Info - Docker version: 24.0.6 - Installation: - ROS2 docker container from base image: osrf/ros:humble-desktop - Ubuntu 20.04 - Version or commit hash: [b8ee381](https://github.com/BehaviorTree/BehaviorTree.ROS2/tree/b8ee38197013fd9160716000fa1e2dbb2895fb17) -...

wafts95