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BehaviorTree / BehaviorTree.ROS2

BehaviorTree.CPP utilities to work with ROS2
Apache License 2.0
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Register multiple nodes with single plugin #68

Closed MarqRazz closed 5 months ago

MarqRazz commented 5 months ago

I'm working on a package that has lots of behaviors and would like to put them all into a single plugin. This PR adds the macro so user can register one or more custom Nodes into a factory that also need access to the BT::RosNodeParams.

marj3220 commented 5 months ago

I currently have an issue where my custom ROS2 behaviors can't set params (my issue: https://github.com/BehaviorTree/BehaviorTree.ROS2/issues/69). I believe this PR will help my current issues.

marj3220 commented 5 months ago

Thank you @MarqRazz. The TreeExecutor system has greatly helped with my project's architecture.

MarqRazz commented 5 months ago

Thank you @MarqRazz. The TreeExecutor system has greatly helped with my project's architecture.

I'm glad you have found this useful @marj3220! I agree that this PR should get around your issue. FYI you also have the option of just setting the value that gets used by default_port_value like action_name directly in the tree.xml file.

marj3220 commented 5 months ago

@MarqRazz Quick question. Why is the params a const? How can I assign the attributes of the param attribute if it is a constant? This might be a miscomprehension on my part from my lack of C++ knowledge.

MarqRazz commented 5 months ago

The params are const so that each plugin does not mutate them or have to worry about properly restoring the default values.

Have you tried making a copy and passing it into your behaviors...

BT_REGISTER_ROS_NODES(factory, params)
{
  BT::RosNodeParams my_params(params);
  my_params.default_port_value = "TopicName";
  my_params.server_timeout = std::chrono::milliseconds(5000);
  factory.registerNodeType<SomeBehavior>("SomeBehavior", my_params);
}
marj3220 commented 5 months ago

The params are const so that each plugin does not mutate them or have to worry about properly restoring the default values.

Have you tried making a copy and passing it into your behaviors...

BT_REGISTER_ROS_NODES(factory, params)
{
  BT::RosNodeParams my_params(params);
  my_params.default_port_value = "TopicName";
  my_params.server_timeout = std::chrono::milliseconds(5000);
  factory.registerNodeType<SomeBehavior>("SomeBehavior", my_params);
}

You are very right! Thank you for your help. I truly appreciate it!