behavior_tree: removed list of plugins from yaml

Signed-off-by: Davide Faconti <[email protected]>
ros-navigation · Feb 19, 2024 · c8b4eb5 · c8b4eb5
1 parent a6bcb34
commit c8b4eb5
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Showing 13 changed files with 60 additions and 463 deletions.
diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
@@ -219,13 +219,16 @@ install(TARGETS ${library_name}
   RUNTIME DESTINATION bin
 )
 
+# we will embed the list of plugin names inside a header file
+set(GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/gen)
+configure_file(plugins_list.hpp.in ${GENERATED_DIR}/plugins_list.hpp)
+
 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} )
+# allow generate_nav2_tree_nodes_xml to find plugins_list.hpp
+target_include_directories(generate_nav2_tree_nodes_xml PRIVATE ${GENERATED_DIR})
+install(TARGETS generate_nav2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME})
+
 
 install(DIRECTORY include/
   DESTINATION include/
@@ -236,8 +239,7 @@ 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})
-
+install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/nav2_behavior_tree/plugins_list.hpp.in b/nav2_behavior_tree/plugins_list.hpp.in
@@ -2,5 +2,5 @@
 // This was automativally generated by cmake
 namespace nav2::details 
 {
-  const char* BT_PLUGIN_LIST = "@plugin_libs@";
+  const char* BT_BUILTIN_PLUGINS = "@plugin_libs@";
 }
diff --git a/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp b/nav2_behavior_tree/src/generate_nav2_tree_nodes_xml.cpp
@@ -29,7 +29,7 @@ int main()
   BT::BehaviorTreeFactory factory;
 
   std::vector<std::string> plugins_list;
-  boost::split(plugins_list, nav2::details::BT_PLUGIN_LIST, boost::is_any_of(";"));
+  boost::split(plugins_list, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";"));
 
   for (const auto & plugin : plugins_list) {
     std::cout << "Loading: " << plugin << "\n";

diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -56,58 +56,11 @@ bt_navigator:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - 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_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_initial_pose_received_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_goal_updated_controller_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_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_is_battery_charging_condition_bt_node
+
+    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+    # Built-in plugins are added automatically
+    plugin_lib_names: []
+
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -56,58 +56,11 @@ bt_navigator:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - 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_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_initial_pose_received_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_goal_updated_controller_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_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_is_battery_charging_condition_bt_node
+
+    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+    # Built-in plugins are added automatically
+    plugin_lib_names: []
+
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -56,58 +56,11 @@ bt_navigator:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - 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_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_initial_pose_received_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_goal_updated_controller_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_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_is_battery_charging_condition_bt_node
+
+    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+    # Built-in plugins are added automatically
+    plugin_lib_names: []
+
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -56,58 +56,11 @@ bt_navigator:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
     # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - 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_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_initial_pose_received_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_goal_updated_controller_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_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_is_battery_charging_condition_bt_node
+
+    # plugin_lib_names is used to add custom BT plugins to the executor (vector of strings).
+    # Built-in plugins are added automatically
+    plugin_lib_names: []
+
     error_code_names:
       - compute_path_error_code
       - follow_path_error_code

diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -18,12 +18,15 @@
 #include <string>
 #include <utility>
 #include <vector>
+#include <boost/algorithm/string.hpp>
 
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
 #include "nav2_behavior_tree/bt_utils.hpp"
 
+#include "nav2_behavior_tree/plugins_list.hpp"
+
 using nav2_util::declare_parameter_if_not_declared;
 
 namespace nav2_bt_navigator
@@ -36,62 +39,8 @@ BtNavigator::BtNavigator(rclcpp::NodeOptions options)
 {
   RCLCPP_INFO(get_logger(), "Creating");
 
-  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_goal_updated_controller_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_wait_cancel_bt_node",
-    "nav2_spin_cancel_bt_node",
-    "nav2_assisted_teleop_cancel_bt_node",
-    "nav2_back_up_cancel_bt_node",
-    "nav2_drive_on_heading_cancel_bt_node",
-    "nav2_is_battery_charging_condition_bt_node"
-  };
-
   declare_parameter_if_not_declared(
-    this, "plugin_lib_names", rclcpp::ParameterValue(plugin_libs));
+    this, "plugin_lib_names", rclcpp::ParameterValue(std::vector<std::string>{}));
   declare_parameter_if_not_declared(
     this, "transform_tolerance", rclcpp::ParameterValue(0.1));
   declare_parameter_if_not_declared(
@@ -124,7 +73,13 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   odom_topic_ = get_parameter("odom_topic").as_string();
 
   // Libraries to pull plugins (BT Nodes) from
-  auto plugin_lib_names = get_parameter("plugin_lib_names").as_string_array();
+  std::vector<std::string> plugin_lib_names;
+  boost::split(plugin_lib_names, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";"));
+  auto user_defined_plugins = get_parameter("plugin_lib_names").as_string_array();
+  // append user_defined_plugins to plugin_lib_names
+  plugin_lib_names.insert(
+    plugin_lib_names.end(), user_defined_plugins.begin(),
+    user_defined_plugins.end());
 
   nav2_core::FeedbackUtils feedback_utils;
   feedback_utils.tf = tf_;