Add generate_nav2_tree_nodes_xml

Signed-off-by: Davide Faconti <[email protected]>

nav2_behavior_tree/CMakeLists.txt

@@ -219,6 +219,14 @@ install(TARGETS ${library_name}
   RUNTIME DESTINATION bin
 )
 
+add_executable(generate_nav2_tree_nodes_xml src/generate_nav2_tree_nodes_xml.cpp)
+ament_target_dependencies(generate_nav2_tree_nodes_xml ${dependencies})
+# we will embed the list of plugin names inside a header file
+configure_file(plugins_list.hpp.in ${CMAKE_CURRENT_BINARY_DIR}/gen/plugins_list.hpp)
+target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/gen)
+install(TARGETS generate_nav2_tree_nodes_xml 
+  DESTINATION lib/${PROJECT_NAME} )
+
 install(DIRECTORY include/
   DESTINATION include/
 )
@@ -228,6 +236,8 @@ install(DIRECTORY test/utils/
 )
 
 install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/gen/plugins_list.hpp DESTINATION include/${PROJECT_NAME})
+
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

nav2_behavior_tree/plugins_list.hpp.in

@@ -0,0 +1,6 @@
+
+// This was automativally generated by cmake
+namespace nav2::details 
+{
+  const char* BT_PLUGIN_LIST = "@plugin_libs@";
+}

nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp

@@ -0,0 +1,47 @@
+// Copyright (c) 2024 Davide Faconti
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License. Reserved.
+
+#include <vector>
+#include <string>
+#include <fstream>
+#include <boost/algorithm/string.hpp>
+
+#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp_v3/utils/shared_library.h"
+#include "behaviortree_cpp_v3/xml_parsing.h"
+
+#include "plugins_list.hpp"
+
+int main()
+{
+  BT::BehaviorTreeFactory factory;
+
+  std::vector<std::string> plugins_list;
+  boost::split(plugins_list, nav2::details::BT_PLUGIN_LIST, boost::is_any_of(";"));
+
+  for (const auto & plugin : plugins_list) {
+    std::cout << "Loading: " << plugin << "\n";
+    factory.registerFromPlugin(BT::SharedLibrary::getOSName(plugin));
+  }
+  std::cout << "\nGenerating file: nav2_tree_nodes.xml\n"
+            << "\nCompare it with the one in the git repo and update the latter if necessary.\n";
+
+  std::ofstream xml_file;
+  xml_file.open("nav2_tree_nodes.xml");
+  xml_file << BT::writeTreeNodesModelXML(factory) << std::endl;
+  xml_file.close();
+
+  return 0;
+}

nav2_system_tests/src/behavior_tree/test_behavior_tree_node.cpp

@@ -17,6 +17,7 @@
 #include <fstream>
 #include <memory>
 #include <utility>
+#include <boost/algorithm/string.hpp>
 #include <boost/filesystem.hpp>
 
 #include "gtest/gtest.h"
@@ -31,6 +32,8 @@
 
 #include "nav2_util/odometry_utils.hpp"
 
+#include "nav2_behavior_tree/plugins_list.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 #include "ament_index_cpp/get_package_share_directory.hpp"
 
@@ -58,58 +61,9 @@ class BehaviorTreeHandler
 
     odom_smoother_ = std::make_shared<nav2_util::OdomSmoother>(node_);
 
-    const std::vector<std::string> plugin_libs = {
-      "nav2_compute_path_to_pose_action_bt_node",
-      "nav2_compute_path_through_poses_action_bt_node",
-      "nav2_smooth_path_action_bt_node",
-      "nav2_follow_path_action_bt_node",
-      "nav2_spin_action_bt_node",
-      "nav2_wait_action_bt_node",
-      "nav2_assisted_teleop_action_bt_node",
-      "nav2_back_up_action_bt_node",
-      "nav2_drive_on_heading_bt_node",
-      "nav2_clear_costmap_service_bt_node",
-      "nav2_is_stuck_condition_bt_node",
-      "nav2_goal_reached_condition_bt_node",
-      "nav2_initial_pose_received_condition_bt_node",
-      "nav2_goal_updated_condition_bt_node",
-      "nav2_globally_updated_goal_condition_bt_node",
-      "nav2_is_path_valid_condition_bt_node",
-      "nav2_are_error_codes_active_condition_bt_node",
-      "nav2_would_a_controller_recovery_help_condition_bt_node",
-      "nav2_would_a_planner_recovery_help_condition_bt_node",
-      "nav2_would_a_smoother_recovery_help_condition_bt_node",
-      "nav2_reinitialize_global_localization_service_bt_node",
-      "nav2_rate_controller_bt_node",
-      "nav2_distance_controller_bt_node",
-      "nav2_speed_controller_bt_node",
-      "nav2_truncate_path_action_bt_node",
-      "nav2_truncate_path_local_action_bt_node",
-      "nav2_goal_updater_node_bt_node",
-      "nav2_recovery_node_bt_node",
-      "nav2_pipeline_sequence_bt_node",
-      "nav2_round_robin_node_bt_node",
-      "nav2_transform_available_condition_bt_node",
-      "nav2_time_expired_condition_bt_node",
-      "nav2_path_expiring_timer_condition",
-      "nav2_distance_traveled_condition_bt_node",
-      "nav2_single_trigger_bt_node",
-      "nav2_is_battery_low_condition_bt_node",
-      "nav2_navigate_through_poses_action_bt_node",
-      "nav2_navigate_to_pose_action_bt_node",
-      "nav2_remove_passed_goals_action_bt_node",
-      "nav2_planner_selector_bt_node",
-      "nav2_controller_selector_bt_node",
-      "nav2_goal_checker_selector_bt_node",
-      "nav2_controller_cancel_bt_node",
-      "nav2_path_longer_on_approach_bt_node",
-      "nav2_assisted_teleop_cancel_bt_node",
-      "nav2_wait_cancel_bt_node",
-      "nav2_spin_cancel_bt_node",
-      "nav2_back_up_cancel_bt_node",
-      "nav2_drive_on_heading_cancel_bt_node",
-      "nav2_goal_updated_controller_bt_node"
-    };
+    std::vector<std::string> plugin_libs;
+    boost::split(plugin_libs, nav2::details::BT_PLUGIN_LIST, boost::is_any_of(";"));
+
     for (const auto & p : plugin_libs) {
       factory_.registerFromPlugin(BT::SharedLibrary::getOSName(p));
     }