Migrate plansys2_bt_actions to BehaviorTree.ROS2 wrappers

[robodrome]

NOTE: Work in progress, needs testing!

Changelog

Added

• Include statements for behaviortree_ros2/ros_node_params.hpp, behaviortree_ros2/plugins.hpp
• New private member node_namespace_ and method createFullyQualifiedName in BTAction to handle namespace qualification in plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp.
• Dual array parsing for plugins in BTAction::on_configure to handle plugin configurations dynamically.

You can now specify the server node names used by the wrappers (ast stands for action, service or topic). I also chose to drop the config/params.yaml for readability in my application (I will change the plansys2_bt_example later).

move_cmd = Node(
    package='plansys2_bt_actions',
    executable='bt_action_node',
    name='move',
    namespace=namespace,
    output='screen',
    parameters=[
        {
            'action_name': 'move',
            'bt_xml_file': example_dir + '/behavior_trees_xml/move.xml',
            'plugin_names': [
                'plansys2_NODE_A_bt_node',
                'plansys2_NODE_B_bt_node',
                'plansys2_NODE_C_bt_node'
            ],
            'plugin_asts': [
                'action_A',
                'service_A',
                'topic_A'
            ]
        }
    ]
)

Changed

• Updated BTAction::BTAction constructor to use a single string for the plugins parameter instead of a vector of strings in plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp.
• Refactored plugin loading logic in BTAction::on_configure for enhanced flexibility and error handling, including support for both node and ROS node registrations from plugins.

Notes

• The new plugin loading approach allows for a more flexible and error-tolerant system, accommodating different types of BehaviorTree.CPP plugins with better diagnostics.
• The direct addition of the test directory in the CMakeLists conditional compilation block is now commented out. Tests should be changed to reflect the changes made in this PR.
• The ros2_planning_system_examples/plansys2_bt_example has not been adapted for these changes yet. I have tested action, service and topic sub wrappers and they seem to work perfectly.
• Please test it yourself before merging.
• Removed the proposed json dependency.

[robodrome]

Failing. The workflow env seems to be missing behaviortree_cpp package

[fmrico]

Yes, I opened #306 , but something strange is happening here...

[fmrico]

CI seems to be fixed, but it is applying old pipeline. Can you rebase/merge?

[robodrome]

I updated to current rolling. No merge conflicts.

Error: https://github.com/PlanSys2/ros2_planning_system/actions/runs/8506248137/job/23296137377#step:4:227

Related to setting up ROS2 env.

[fmrico]

Now, the errors are related to the library you included:

2024-04-01T09:36:35.3583120Z CMake Error at CMakeLists.txt:15 (find_package):
2024-04-01T09:36:35.3584039Z   By not providing "Findnlohmann_json.cmake" in CMAKE_MODULE_PATH this
2024-04-01T09:36:35.3585062Z   project has asked CMake to find a package configuration file provided by
2024-04-01T09:36:35.3585914Z   "nlohmann_json", but CMake did not find one.
2024-04-01T09:36:35.3586348Z 
2024-04-01T09:36:35.3586754Z   Could not find a package configuration file provided by "nlohmann_json"
2024-04-01T09:36:35.3587552Z   with any of the following names:
2024-04-01T09:36:35.3587901Z 
2024-04-01T09:36:35.3588062Z     nlohmann_jsonConfig.cmake
2024-04-01T09:36:35.3588610Z     nlohmann_json-config.cmake
2024-04-01T09:36:35.3588936Z 
2024-04-01T09:36:35.3589375Z   Add the installation prefix of "nlohmann_json" to CMAKE_PREFIX_PATH or set
2024-04-01T09:36:35.3590475Z   "nlohmann_json_DIR" to a directory containing one of the above files.  If
2024-04-01T09:36:35.3591506Z   "nlohmann_json" provides a separate development package or SDK, be sure it
2024-04-01T09:36:35.3592280Z   has been installed.

[fmrico]

I am not completely happy including a new dependency. I would rather prefer to use parameters and avoiding nlohmann_json.
I also need a better explanation of the utility of this PR :-/

[robodrome]

I used json to parse argument pairs. Because I wanted to be able to specify the action/service/topic names. Like this:

move_cmd = Node(
package='plansys2_bt_actions',
executable='bt_action_node',
name='move',
namespace=namespace,
output='screen',
parameters=[
    {
        'action_name': 'move',
        'bt_xml_file': example_dir + '/behavior_trees_xml/move.xml',
        'plugins':  json.dumps([
            {'name': 'plansys2_NODE_A_bt_node', 'ast': 'topic_a'},
            {'name': 'plansys2_NODE_B_bt_node', 'ast': 'topic_b'},
            {'name': 'plansys2_NODE_C_bt_node', 'ast': 'topic_c'}                ])
    }
])

I have altered it and removed the json dependency. I now use a double array:

    move_cmd = Node(
        package='plansys2_bt_actions',
        executable='bt_action_node',
        name='move',
        namespace=namespace,
        output='screen',
        parameters=[
            {
                'action_name': 'move',
                'bt_xml_file': example_dir + '/behavior_trees_xml/move.xml',
                'plugin_names': [
                    'plansys2_NODE_A_bt_node',
                    'plansys2_NODE_B_bt_node',
                    'plansys2_NODE_C_bt_node'
                ],
                'plugin_asts': [
                    'action_A',
                    'service_A',
                    'topic_A'
                ]
            }
        ]
    )

NOTE: the namespace specified during launch is added as prefix to AST's, e.g. to enable multiple name-spaced robots.

Does this look acceptable to you? And do you agree this feature should be added?

I also will create an example in the plansys2 examples when this PR is approved or pre-approved. Also, I just looked at the BehaviorTree.ROS2 repo for some examples.

[robodrome]

It is still failing:

-- Build files have been written to: /home/runner/work/ros2_planning_system/ros2_planning_system/ros_ws/build/plansys2_bt_actions
  [ 25%] Building CXX object CMakeFiles/plansys2_bt_actions.dir/src/plansys2_bt_actions/BTAction.cpp.o
  In file included from /home/runner/work/ros2_planning_system/ros2_planning_system/ros_ws/src/b9q00w3heb6/ros2_planning_system/plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp:26:
  /home/runner/work/ros2_planning_system/ros2_planning_system/ros_ws/src/b9q00w3heb6/ros2_planning_system/plansys2_bt_actions/include/plansys2_bt_actions/BTAction.hpp:31:10: fatal error: behaviortree_ros2/ros_node_params.hpp: No such file or directory
     31 | #include "behaviortree_ros2/ros_node_params.hpp"
        |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

I think BehaviorTree.ROS2 should be added to the workflow environment, correct?

[fmrico]

If you did a marge with `rolling,' BT.CPP 4 should be in the CI workflow. May you check it?

[robodrome]

I did a merge with rolling. I update my branch to rolling now. It was behind. Same issue, it can't find:

behaviortree_ros2/ros_node_params.hpp

I build from source humble.