Behavior Tree CPP for CampX

Create a Behavior Tree with Groot 2 and save the .xml tree in:

btcpp_ros2_execution/behavior_trees

NOTE: The input/output ports have to be defined in:

btcpp_ros2_execution/src/execute_action.hpp

for example:

basic.insert(InputPort<std::string>("action_name", "", "Action server name"));
basic.insert(InputPort<unsigned>("msec"));
basic.insert(InputPort<std::string>("robot_position"));

Run the Rita suite:

ros2 launch rita_bringup bringup_sim.launch.py

Run the Tree Execution Server

ros2 launch btcpp_ros2_execution bt_executor.launch.xml

To call the Action Server from the command line:

ros2 action send_goal /behavior_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: MoveRobotExample}"