Roadmap

[captain-yoshi]

A reminder of things to do before releasing a 1.0.0 release.

TODO:

• [ ] Finish implementing MTC stages
• [x] Make stage properties configurable (set + configureInitFrom + exposeTo)
• [ ] Implement pick and place demo
• [ ] Implement other demo's
• [ ] Add usefull callbacks
• [x] Remove constexpr port names. It is more verbose to directly use the string.
• [ ] No need to enforce every blackboard variables with a shared_ptr.
• [x] Refactor namespace
• [ ] Refactor some classes with templates
• [ ] Properly set BT Ports
• [ ] Convert TreeNodes into plugins. See plugin example.
• [ ] Connect Stage: add multiple GroupPlannerVector in the BT. Or create a new class.
• [ ] Add Gtests, convert current examples to tests. Keep the demo's in example folder.
• [ ] Add CI
• [ ] Test: make sure that the shared pointer is removed from the blackboard.
• [ ] Reorganize/Modify the API.
• [ ] Add all complex blackboard params thread-safe. Documentation.
• [ ] Find a way to halt the BT PlanMTCTask by checking the isHaltRequested. Documentation. Probably needs a PR in MTC to add a callback in the plan method.
• [ ] Ask BehaviorTree.CPP if we can minimize specific node parameters in Groot2
• [ ] Add documentation

---

Namespace

I would propose these changes to better align with BehaviorTree.CPP:

namespace BT {
namespace MTC {

template <typename T = Any>
class SetMTCProperties : public SyncActionNode
{
public:
  SetMTCProperties(const std::string& name, const NodeConfig& config)
    : SyncActionNode(name, config) {}

  NodeStatus tick() override {}

  static PortsList providedPorts() {}
};
} // namespace MTC

template <>
inline MTC::SharedProperty<int> convertFromString<MTC::SharedProperty<int>>(StringView str)
{
  MTC::SharedProperty<int> output = std::make_shared<int>(convertFromString<int>(str));

  return output;
}

} // namespace BT

BT Ports

When moving a stage is it an Input or a Bidirectional Port ? Because the blackboard value is set to nullptr we should set the port to Bidirectional.