RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.

BSD 3-Clause "New" or "Revised" License

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Add Robomate application #269

Closed eborghi10 closed 2 years ago

eborghi10 commented 2 years ago

Description

This PR adds changes in BT to deliver mate with the iRobot Create 2.

FYI @jfrir2016 @nicobortoni, I made some improvements to the BT codes, mostly using std::queue to handle the calls from the UI.

Type of change

Please delete options that are not relevant.

[ ] Bug fix (non-breaking change which fixes an issue)
[x] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[ ] This change requires a documentation update

How Has This Been Tested?

# Run simulation
RVIZ=true LASER=rplidar LOCALIZATION=amcl roslaunch ca_gazebo create_servicesim.launch
# Execute BT
roslaunch ca_behavior_tree robomate.launch
# Run RoboMate UI
rosrun rqt_robomate_ui rqt_robomate_ui

Test Configuration:

[ ] Real robot
[x] Gazebo simulation
[ ] Other (please specify)

Checklist:

[x] My code follows the style guidelines of this project (Travis CI is passing)
[x] I have performed a self-review of my own code
[x] I have commented my code, particularly in hard-to-understand areas
[x] I have made corresponding changes to the documentation
[x] My changes generate no new warnings
[x] I have added tests that prove my fix is effective or that my feature works
[x] New and existing unit tests pass locally with my changes