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personalrobotics / ada_feeding

Robot-assisted feeding demos and projects for the ADA robot
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[ROS2] Deprecate `name` and `tree_root_name` in `create_move_to_tree` #111

Closed egordon closed 9 months ago

egordon commented 11 months ago

As discussed in #102

These can be gleaned directly from self.blackboard.namespace and self.blackboard_tree_root.namespace.

Additionally, we should be able to get rid of self.blackboard_tree_root entirely.

Proposal: send_goal and get_result will only be run in the root tree, so the distinction is unnecessary in those functions.

But get_feedback needs some introspection to work. This can be done with a Visitor.

It is generally bad BT design for a given sub-tree to be dependent on knowing the structure of its parent.

amalnanavati commented 10 months ago

I believe this is closed with #124 , right? At least, #124 handles deprecating tree_root_name and incorporating the visitor into get_feedback. It doesn't deprecate name but I believe that is necessary (every tree should have a name).