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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,56 @@ | ||
| import os | ||
| from xacro import process_file | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
| from ament_index_python.packages import get_package_share_directory | ||
| from launch.actions import IncludeLaunchDescription, RegisterEventHandler | ||
| from launch.launch_description_sources import PythonLaunchDescriptionSource | ||
| from launch.event_handlers import OnProcessExit | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| pkg_urc_bringup = get_package_share_directory("urc_bringup") | ||
|
|
||
| controller_config_file_dir = os.path.join( | ||
| pkg_urc_bringup, "config", "controller_config.yaml" | ||
| ) | ||
| xacro_file = os.path.join( | ||
| get_package_share_directory("urc_hw_description"), "urdf/walli.xacro" | ||
| ) | ||
| assert os.path.exists(xacro_file), "urdf path doesnt exist in " + str(xacro_file) | ||
| robot_description_config = process_file( | ||
| xacro_file, mappings={"use_simulation": "false"} | ||
| ) | ||
| robot_desc = robot_description_config.toxml() | ||
|
|
||
| control_node = Node( | ||
| package="controller_manager", | ||
| executable="ros2_control_node", | ||
| parameters=[controller_config_file_dir, {"robot_description": robot_desc}], | ||
| output="both", | ||
| ) | ||
|
|
||
| load_status_light_controller = Node( | ||
| package="controller_manager", | ||
| executable="spawner", | ||
| arguments=["-p", controller_config_file_dir, "status_light_controller"], | ||
| ) | ||
|
|
||
| bt_launch = IncludeLaunchDescription( | ||
| PythonLaunchDescriptionSource( | ||
| os.path.join(pkg_urc_bringup, "launch", "bt.launch.py") | ||
| ) | ||
| ) | ||
|
|
||
| return LaunchDescription( | ||
| [ | ||
| control_node, | ||
| load_status_light_controller, | ||
| RegisterEventHandler( | ||
| event_handler=OnProcessExit( | ||
| target_action=load_status_light_controller, | ||
| on_exit=[bt_launch], | ||
| ) | ||
| ), | ||
| ] | ||
| ) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <root BTCPP_format="4"> | ||
| <BehaviorTree ID="test_status_light"> | ||
| <RunOnce then_skip="true"> | ||
| <Sequence> | ||
| <Delay delay_msec="100"> | ||
| <StatusLightPublisher topic_name="/command/status_light" | ||
| color="red" | ||
| state="blink"/> | ||
| </Delay> | ||
| <Delay delay_msec="100"> | ||
| <StatusLightPublisher topic_name="/command/status_light" | ||
| color="red" | ||
| state="off"/> | ||
| </Delay> | ||
| <Delay delay_msec="100"> | ||
| <StatusLightPublisher topic_name="/command/status_light" | ||
| color="green" | ||
| state="blink"/> | ||
| </Delay> | ||
| <Delay delay_msec="100"> | ||
| <StatusLightPublisher topic_name="/command/status_light" | ||
| color="green" | ||
| state="off"/> | ||
| </Delay> | ||
| <Delay delay_msec="100"> | ||
| <StatusLightPublisher topic_name="/command/status_light" | ||
| color="blue" | ||
| state="blink"/> | ||
| </Delay> | ||
| <Delay delay_msec="100"> | ||
| <StatusLightPublisher topic_name="/command/status_light" | ||
| color="blue" | ||
| state="off"/> | ||
| </Delay> | ||
| </Sequence> | ||
| </RunOnce> | ||
| </BehaviorTree> | ||
|
|
||
| <!-- Description of Node Models (used by Groot) --> | ||
| <TreeNodesModel> | ||
| <Action ID="StatusLightPublisher" | ||
| editable="true"> | ||
| <input_port name="topic_name" | ||
| default="/command/status_light"/> | ||
| <input_port name="color"/> | ||
| <input_port name="state"/> | ||
| </Action> | ||
| </TreeNodesModel> | ||
|
|
||
| </root> |
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69 changes: 53 additions & 16 deletions
69
urc_bt_nodes/include/urc_bt_nodes/actions/status_light_publisher.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,35 +1,72 @@ | ||
| #ifndef STATUS_LIGHT_PUBLISHER_HPP__ | ||
| #define STATUS_LIGHT_PUBLISHER_HPP__ | ||
|
|
||
| #include <string> | ||
|
|
||
| #include "behaviortree_cpp/basic_types.h" | ||
| #include "behaviortree_cpp/tree_node.h" | ||
| #include "behaviortree_cpp/tree_node.h" | ||
| #include "behaviortree_ros2/ros_node_params.hpp" | ||
| #include "behaviortree_ros2/bt_topic_pub_node.hpp" | ||
| #include "string" | ||
| #include "std_msgs/msg/int8.hpp" | ||
|
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| #include "urc_msgs/msg/status_light_command.hpp" | ||
|
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| namespace behavior::actions | ||
| { | ||
| class StatusLightPublisher : public BT::RosTopicPubNode<std_msgs::msg::Int8> | ||
| { | ||
| public: | ||
| StatusLightPublisher( | ||
| const std::string & instance_name, const BT::NodeConfig & conf, | ||
| const BT::RosNodeParams & params) | ||
| : BT::RosTopicPubNode<std_msgs::msg::Int8>(instance_name, conf, params) {} | ||
|
|
||
| static BT::PortsList providedPorts() | ||
| int stringToColor(std::string color) | ||
| { | ||
| if (color == "red") | ||
| { | ||
| return urc_msgs::msg::StatusLightCommand::RED; | ||
| } | ||
| if (color == "green") | ||
| { | ||
| return urc_msgs::msg::StatusLightCommand::GREEN; | ||
| } | ||
| if (color == "blue") | ||
| { | ||
| return urc_msgs::msg::StatusLightCommand::BLUE; | ||
| } | ||
|
|
||
| throw std::invalid_argument("Invalid color!"); | ||
| } | ||
|
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| int stringToState(std::string state) | ||
| { | ||
| return providedBasicPorts( | ||
| { | ||
| BT::InputPort<std_msgs::msg::Int8>("value"), | ||
| }); | ||
| if (state == "on") | ||
| { | ||
| return urc_msgs::msg::StatusLightCommand::ON; | ||
| } | ||
| if (state == "off") | ||
| { | ||
| return urc_msgs::msg::StatusLightCommand::OFF; | ||
| } | ||
| if (state == "blink") | ||
| { | ||
| return urc_msgs::msg::StatusLightCommand::BLINK; | ||
| } | ||
|
|
||
| throw std::invalid_argument("Invalid state!"); | ||
| } | ||
|
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| bool setMessage(std_msgs::msg::Int8 & msg) override; | ||
| class StatusLightPublisher : public BT::RosTopicPubNode<urc_msgs::msg::StatusLightCommand> | ||
| { | ||
| public: | ||
| StatusLightPublisher( | ||
| const std::string &instance_name, const BT::NodeConfig &conf, | ||
| const BT::RosNodeParams ¶ms) | ||
| : BT::RosTopicPubNode<urc_msgs::msg::StatusLightCommand>(instance_name, conf, params) {} | ||
|
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| static BT::PortsList providedPorts() | ||
| { | ||
| return providedBasicPorts( | ||
| {BT::InputPort<std::string>("color"), | ||
| BT::InputPort<std::string>("state")}); | ||
| } | ||
|
|
||
| }; | ||
| bool setMessage(urc_msgs::msg::StatusLightCommand &msg) override; | ||
| }; | ||
| } | ||
|
|
||
| #endif |
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