⬆️ new version of ROSA, using rosa_task_plan_bt

kas-lab · May 9, 2024 · b32455b · b32455b
1 parent ead170a
commit b32455b
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Showing 8 changed files with 24 additions and 18 deletions.
diff --git a/suave_rosa_bt/CMakeLists.txt b/suave_rosa_bt/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(behaviortree_cpp REQUIRED)
 find_package(mavros_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rosa_msgs REQUIRED)
-find_package(rosa_plan REQUIRED)
+find_package(rosa_task_plan_bt REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 
@@ -24,7 +24,7 @@ set(dependencies
   mavros_msgs
   rclcpp
   rosa_msgs
-  rosa_plan
+  rosa_task_plan_bt
   std_msgs
   std_srvs
 )

diff --git a/suave_rosa_bt/include/suave_rosa_bt/action_inspect_pipeline.hpp b/suave_rosa_bt/include/suave_rosa_bt/action_inspect_pipeline.hpp
@@ -21,20 +21,20 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/bool.hpp"
 
-#include "rosa_plan/rosa_action.hpp"
+#include "rosa_task_plan_bt/rosa_action.hpp"
 
 using namespace std::placeholders;
 
 namespace suave_rosa_bt
 {
 
 template<class T>
-class InspectPipeline : public rosa_plan::RosaAction<T>{
+class InspectPipeline : public rosa_task_plan_bt::RosaAction<T>{
 
 public:
   InspectPipeline(
     const std::string& name, const BT::NodeConfig & conf)
-  : rosa_plan::RosaAction<T>(name, conf), _pipeline_inspected(false)
+  : rosa_task_plan_bt::RosaAction<T>(name, conf), _pipeline_inspected(false)
   {
     pipeline_inspected_sub_  = this->_node->template create_subscription<std_msgs::msg::Bool>(
       "/pipeline/inspected",

diff --git a/suave_rosa_bt/include/suave_rosa_bt/action_recharge_battery.hpp b/suave_rosa_bt/include/suave_rosa_bt/action_recharge_battery.hpp
@@ -21,20 +21,20 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/bool.hpp"
 
-#include "rosa_plan/rosa_action.hpp"
+#include "rosa_task_plan_bt/rosa_action.hpp"
 
 using namespace std::placeholders;
 
 namespace suave_rosa_bt
 {
 
 template<class T>
-class RechargeBattery : public rosa_plan::RosaAction<T>{
+class RechargeBattery : public rosa_task_plan_bt::RosaAction<T>{
 
 public:
   RechargeBattery(
     const std::string& name, const BT::NodeConfig & conf)
-  : rosa_plan::RosaAction<T>(name, conf)
+  : rosa_task_plan_bt::RosaAction<T>(name, conf)
   {
     battery_level_sub  = this->_node->template create_subscription<std_msgs::msg::Bool>(
       "/battery_monitor/recharge/complete",
@@ -46,7 +46,7 @@ class RechargeBattery : public rosa_plan::RosaAction<T>{
     std::cout << "Async action starting: " << this->name() << std::endl;
     // _completion_time = std::chrono::system_clock::now() + std::chrono::milliseconds(5000);
     _recharged = false;
-    return rosa_plan::RosaAction<T>::onStart();
+    return rosa_task_plan_bt::RosaAction<T>::onStart();
   };
 
   BT::NodeStatus onRunning() override {

diff --git a/suave_rosa_bt/include/suave_rosa_bt/action_search_pipeline.hpp b/suave_rosa_bt/include/suave_rosa_bt/action_search_pipeline.hpp
@@ -21,20 +21,20 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/bool.hpp"
 
-#include "rosa_plan/rosa_action.hpp"
+#include "rosa_task_plan_bt/rosa_action.hpp"
 
 using namespace std::placeholders;
 
 namespace suave_rosa_bt
 {
 
 template<class T>
-class SearchPipeline : public rosa_plan::RosaAction<T>{
+class SearchPipeline : public rosa_task_plan_bt::RosaAction<T>{
 
 public:
   SearchPipeline(
     const std::string& name, const BT::NodeConfig & conf)
-  : rosa_plan::RosaAction<T>(name, conf), _pipeline_detected(false)
+  : rosa_task_plan_bt::RosaAction<T>(name, conf), _pipeline_detected(false)
   {
     pipeline_detection_sub_  = this->_node->template create_subscription<std_msgs::msg::Bool>(
       "/pipeline/detected",
@@ -44,7 +44,7 @@ class SearchPipeline : public rosa_plan::RosaAction<T>{
 
   BT::NodeStatus onStart(){
     this->_node->template set_search_started();
-    return rosa_plan::RosaAction<T>::onStart();
+    return rosa_task_plan_bt::RosaAction<T>::onStart();
   };
 
   BT::NodeStatus onRunning() override{

diff --git a/suave_rosa_bt/package.xml b/suave_rosa_bt/package.xml
@@ -9,9 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>rosa_task_plan_bt</build_depend>
+
   <depend>rosa_kb</depend>
   <depend>rosa_msgs</depend>
-  <depend>rosa_plan</depend>
   <depend>rosa_bringup</depend>
   <depend>suave</depend>
   <depend>suave_msgs</depend>

diff --git a/suave_rosa_bt/src/suave_rosa_bt.cpp b/suave_rosa_bt/src/suave_rosa_bt.cpp
@@ -26,7 +26,7 @@
 #include "suave_rosa_bt/arm_thrusters.hpp"
 #include "suave_rosa_bt/set_guided_mode.hpp"
 #include "suave_rosa_bt/suave_mission.hpp"
-#include "rosa_plan/is_action_feasible.hpp"
+#include "rosa_task_plan_bt/is_action_feasible.hpp"
 
 int main(int argc, char * argv[])
 {
@@ -41,7 +41,7 @@ int main(int argc, char * argv[])
   factory.registerNodeType<suave_rosa_bt::InspectPipeline<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("inspect_pipeline");
   factory.registerNodeType<suave_rosa_bt::RechargeBattery<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("recharge");
 
-  factory.registerNodeType<rosa_plan::IsActionFeasible<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("IsActionFeasible");
+  factory.registerNodeType<rosa_task_plan_bt::IsActionFeasible<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("IsActionFeasible");
 
   factory.registerNodeType<suave_rosa_bt::ArmThrusters>("ArmThrusters");
   factory.registerNodeType<suave_rosa_bt::SetGuidedMode>("SetGuidedMode");

diff --git a/suave_rosa_bt/src/suave_rosa_bt_extended.cpp b/suave_rosa_bt/src/suave_rosa_bt_extended.cpp
@@ -28,7 +28,7 @@
 #include "suave_rosa_bt/suave_mission.hpp"
 #include "suave_rosa_bt/is_pipeline_found.hpp"
 #include "suave_rosa_bt/is_pipeline_inspected.hpp"
-#include "rosa_plan/is_action_feasible.hpp"
+#include "rosa_task_plan_bt/is_action_feasible.hpp"
 
 int main(int argc, char * argv[])
 {
@@ -43,7 +43,7 @@ int main(int argc, char * argv[])
   factory.registerNodeType<suave_rosa_bt::InspectPipeline<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("inspect_pipeline");
   factory.registerNodeType<suave_rosa_bt::RechargeBattery<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("recharge");
 
-  factory.registerNodeType<rosa_plan::IsActionFeasible<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("IsActionFeasible");
+  factory.registerNodeType<rosa_task_plan_bt::IsActionFeasible<std::shared_ptr<suave_rosa_bt::SuaveMission>>>("IsActionFeasible");
   factory.registerNodeType<suave_rosa_bt::IsPipelineFound>("IsPipelineFound");
   factory.registerNodeType<suave_rosa_bt::IsPipelineInspected>("IsPipelineInspected");
 

diff --git a/suave_rosa_plansys/package.xml b/suave_rosa_plansys/package.xml
@@ -12,6 +12,11 @@
   <depend>rosa_msgs</depend>
   <depend>rosa_task_plan_plansys</depend>
   <depend>rclcpp</depend>
+  <depend>rosa_kb</depend>
+  <depend>suave</depend>
+  <depend>suave_msgs</depend>
+  <depend>mavros</depend>
+  <depend>mavros_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>