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New package for launch files, bt and tour
Signed-off-by: Ettore Landini <[email protected]>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,18 @@ | ||
| cmake_minimum_required(VERSION 3.5) | ||
| project(uc3_launch) | ||
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| find_package(ament_cmake REQUIRED) | ||
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| install(DIRECTORY launch | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY conf | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| install(DIRECTORY launch/support_code | ||
| DESTINATION share/${PROJECT_NAME} | ||
| ) | ||
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| ament_package() |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1 @@ | ||
| file(COPY simple_bt.xml DESTINATION "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR}") |
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laboratory-tour/src/uc3_launch/conf/BT/bt_convince v1.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| <?xml version="1.0"?> | ||
| <root main_tree_to_execute="BehaviorTree"> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="BehaviorTree"> | ||
| <ReactiveSequence> | ||
| <SubTree ID="failureManagement"/> | ||
| <SubTree ID="NetworkManagement"/> | ||
| <ReactiveFallback> | ||
| <SubTree ID="TourAborted"/> | ||
| <ReactiveSequence> | ||
| <SubTree ID="gotoPoi"/> | ||
| <SubTree ID="CheckArtworkAndExplain"/> | ||
| </ReactiveSequence> | ||
| </ReactiveFallback> | ||
| </ReactiveSequence> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="CheckArtworkAndExplain"> | ||
| <Sequence> | ||
| <ReactiveFallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="ArtworkPresent" nodeName="ArtworkPresent"/> | ||
| <Fallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="SearchArtwork" nodeName="SearchArtwork"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="RescheduleTourArtworkNotPresent" nodeName="RescheduleTourArtworkNotPresent"/> | ||
| <AlwaysFailure/> | ||
| </Fallback> | ||
| </ReactiveFallback> | ||
| <ReactiveFallback> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="ArtworkFree" nodeName="ArtworkFree"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="RescheduleTourArtworkNotFree" nodeName="RescheduleTourArtworkNotFree"/> | ||
| <AlwaysFailure/> | ||
| </ReactiveFallback> | ||
| <ReactiveFallback> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsPointingAtArtwork" nodeName="IsPointingAtArtwork"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="PointAtArtwork" nodeName="PointAtArtwork"/> | ||
| </ReactiveFallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="NarratePOI" nodeName="NarratePOI"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="InteractWithVisitors" nodeName="InteractWithVisitors"/> | ||
| <Fallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="VisitorsEngaged" nodeName="VisitorsEngaged"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="RescheduleTourVisitorNotEngaged" nodeName="RescheduleTourVisitorNotEngaged"/> | ||
| <AlwaysFailure/> | ||
| </Fallback> | ||
| <Fallback> | ||
| <Inverter> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="MuseumTooCrowded" nodeName="MuseumTooCrowded"/> | ||
| </Inverter> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="RescheduleTourMuseumTooCrowded" nodeName="RescheduleTourMuseumTooCrowded"/> | ||
| <AlwaysFailure/> | ||
| </Fallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="UpdatePOI" nodeName="UpdatePOI"/> | ||
| </Sequence> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="NetworkManagement"> | ||
| <ReactiveSequence> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="NetworkDown" nodeName="NetworkDown"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="ManageModulesIfNetworkDown" nodeName="ManageModulesIfNetworkDown"/> | ||
| </ReactiveSequence> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="TourAborted"> | ||
| <ReactiveSequence> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="TourAbortedByVisitors" nodeName="TourAbortedByVisitors"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="GreetAndGoBackTourAbortedByVisitors" nodeName="GreetAndGoBackTourAbortedByVisitors"/> | ||
| </ReactiveSequence> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="failureManagement"> | ||
| <ReactiveFallback> | ||
| <ReactiveSequence> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="BatteryLevel" nodeName="BatteryLevel"/> | ||
| <Inverter> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsCharging" nodeName="IsCharging"/> | ||
| </Inverter> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="AlertUsersLowBattery" nodeName="AlertUsersLowBattery"/> | ||
| <ReactiveFallback> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsAtChargingStation" nodeName="IsAtChargingStation"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="GoToChargingStation" nodeName="GoToChargingStation"/> | ||
| </ReactiveFallback> | ||
| <Action ID="AlwaysRunning" name="Wait"/> | ||
| </ReactiveSequence> | ||
| </ReactiveFallback> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="gotoPoi"> | ||
| <ReactiveFallback> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="AtCurrentPoi" nodeName="AtCurrentPoi"/> | ||
| <ReactiveFallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="VisitorsFollowingRobot" nodeName="VisitorsFollowingRobot"/> | ||
| <ReactiveSequence> | ||
| <ReactiveFallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" isMonitored="false" name="IsCheckingForPeople" nodeName="IsCheckingForPeople"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="StopAndTurnBack" nodeName="StopAndTurnBack"/> | ||
| </ReactiveFallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="SayFollowMe" nodeName="SayFollowMe"/> | ||
| </ReactiveSequence> | ||
| </ReactiveFallback> | ||
| <Parallel failure_threshold="1" success_threshold=""> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="GoToPOI" nodeName="GoToPOI"/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" isMonitored="False" name="SayWhileNavigating" nodeName="SayWhileNavigating"/> | ||
| </Parallel> | ||
| </ReactiveFallback> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <TreeNodesModel> | ||
| <Action ID="AlwaysRunning"/> | ||
| <SubTree ID="CheckArtworkAndExplain"/> | ||
| <SubTree ID="NetworkManagement"/> | ||
| <Action ID="ROS2Action"> | ||
| <input_port default="ROS2SERVICE" name="interface"/> | ||
| <input_port default="False" name="isMonitored"/> | ||
| <input_port name="nodeName"/> | ||
| </Action> | ||
| <Condition ID="ROS2Condition"> | ||
| <input_port default="ROS2SERVICE" name="interface"/> | ||
| <input_port default="false" name="isMonitored"/> | ||
| <input_port name="nodeName"/> | ||
| </Condition> | ||
| <SubTree ID="TourAborted"/> | ||
| <SubTree ID="failureManagement"/> | ||
| <SubTree ID="gotoPoi"/> | ||
| </TreeNodesModel> | ||
| <!-- ////////// --> | ||
| </root> | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| <?xml version="1.0"?> | ||
| <root main_tree_to_execute="BehaviorTree"> | ||
| <!-- ////////// --> | ||
| <BehaviorTree ID="BehaviorTree"> | ||
| <ReactiveSequence> | ||
| <ReactiveFallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="Other Failures Management subtree" nodeName="" topicName=""/> | ||
| </ReactiveFallback> | ||
| <ReactiveFallback> | ||
| <ReactiveSequence> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="tour aborted by visitors" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="Greet and Go back" nodeName="" topicName=""/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="networkDown" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="manageModulesifnetworkdown" nodeName="" topicName=""/> | ||
| </ReactiveSequence> | ||
| <ReactiveSequence> | ||
| <ReactiveFallback> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="at current POI" nodeName="" topicName=""/> | ||
| <ReactiveFallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="VisitorsFollowingRobot" nodeName="" topicName=""/> | ||
| <Parallel failure_threshold="1" success_threshold=""> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="gotoDestination" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="sayFollowMe" nodeName="" topicName=""/> | ||
| </Parallel> | ||
| </ReactiveFallback> | ||
| <Parallel failure_threshold="1" success_threshold=""> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="GoToDestination" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="SayWhileNaviigating" nodeName="" topicName=""/> | ||
| </Parallel> | ||
| </ReactiveFallback> | ||
| <Sequence> | ||
| <ReactiveFallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="ArtworkPresent" nodeName="" topicName=""/> | ||
| <Fallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="SearchArtwork" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="RescheduleTour" nodeName="" topicName=""/> | ||
| </Fallback> | ||
| </ReactiveFallback> | ||
| <ReactiveFallback> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="ArtworkFree" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="RescheduleTour" nodeName="" topicName=""/> | ||
| </ReactiveFallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="Narrate POI" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="Interact with visitors" nodeName="" topicName=""/> | ||
| <Fallback name=""> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="VisitorsEngaged" nodeName="" topicName=""/> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="RescheduleTour" nodeName="" topicName=""/> | ||
| </Fallback> | ||
| <Fallback> | ||
| <Inverter> | ||
| <Condition ID="ROS2Condition" interface="ROS2SERVICE" name="MuseumTooCrowded" nodeName="" topicName=""/> | ||
| </Inverter> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="RescheduleTour" nodeName="" topicName=""/> | ||
| </Fallback> | ||
| <Action ID="ROS2Action" interface="ROS2SERVICE" name="Update poi" nodeName="" topicName=""/> | ||
| </Sequence> | ||
| </ReactiveSequence> | ||
| </ReactiveFallback> | ||
| </ReactiveSequence> | ||
| </BehaviorTree> | ||
| <!-- ////////// --> | ||
| <TreeNodesModel> | ||
| <Action ID="ROS2Action"> | ||
| <input_port default="ROS2SERVICE" name="interface"/> | ||
| <input_port name="nodeName"/> | ||
| <input_port name="topicName"/> | ||
| </Action> | ||
| <Condition ID="ROS2Condition"> | ||
| <input_port default="ROS2SERVICE" name="interface"/> | ||
| <input_port name="nodeName"/> | ||
| <input_port name="topicName"/> | ||
| </Condition> | ||
| </TreeNodesModel> | ||
| <!-- ////////// --> | ||
| </root> | ||
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