cleanup and basic docs

Author: MarqRazz

behaviortree_ros2/bt_executor_parameters.md

@@ -0,0 +1,75 @@
+# Bt Server Parameters
+
+Default Config
+```yaml
+bt_server:
+  ros__parameters:
+    action_name: bt_execution
+    behavior_trees: '{}'
+    groot2_port: 1667.0
+    plugins: '{}'
+    ros_plugins_timeout: 1000.0
+    tick_frequency: 100.0
+
+```
+
+## action_name
+
+The name the Action Server takes requests from
+
+* Type: `string`
+* Default Value: "bt_execution"
+* Read only: True
+
+## tick_frequency
+
+Frequency in Hz to tick() the Behavior tree at
+
+* Type: `int`
+* Default Value: 100
+* Read only: True
+
+*Constraints:*
+ - parameter must be within bounds 1
+
+## groot2_port
+
+Server port value to publish Groot2 messages on
+
+* Type: `int`
+* Default Value: 1667
+* Read only: True
+
+*Constraints:*
+ - parameter must be within bounds 1
+
+## plugins
+
+List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory
+
+* Type: `string_array`
+* Default Value: {}
+
+*Constraints:*
+ - contains no duplicates
+
+## ros_plugins_timeout
+
+Timeout (ms) used in BT::RosNodeParams
+
+* Type: `int`
+* Default Value: 1000
+
+*Constraints:*
+ - parameter must be within bounds 1
+
+## behavior_trees
+
+List of 'package_name/subfolder' containing SubTrees to load into the BehaviorTree factory
+
+* Type: `string_array`
+* Default Value: {}
+
+*Constraints:*
+ - contains no duplicates
+

btcpp_ros2_samples/CMakeLists.txt

@@ -73,6 +73,16 @@ install(TARGETS
   RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
   )
 
+######################################################
+# INSTALL Behavior.xml's, ROS config and launch files
+
+install(DIRECTORY
+    behavior_trees
+    config
+    launch
+    DESTINATION share/${PROJECT_NAME}/
+    )
+
 
 ament_export_dependencies(behaviortree_ros2 btcpp_ros2_interfaces)
 

btcpp_ros2_samples/README.md

@@ -0,0 +1,38 @@
+# Sample Behaviors
+
+For documentation on sample behaviors included in this package please see the BehaviorTree.CPP [ROS 2 Integration documentation](https://www.behaviortree.dev/docs/ros2_integration) .
+
+# TreeExecutionServer Documentation and Example
+
+This package also includes an example Behavior Tree Executor that is designed to make building, combining and executing [BehaviorTree.CPP](https://www.behaviortree.dev/docs/intro) based Behaviors easy and reusable.
+This Executor includes an Action Server that is able to register plugins or directly linked Behaviors and Trees/Subtrees so that a user can execute any known BehaviorTree by simply sending the name of it to the server.
+
+The `TreeExecutionServer` class offers several overridable methods that that can be used to meet your specific needs. Please see [tree_execution_server.hpp](../behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp) for descriptions and requirements of each virtual method. You can also refer to [sample_bt_executor.cpp](src/sample_bt_executor.cpp) for a working example of the `TreeExecutionServer`.
+
+A launch file is included that starts the Execution Server and loads a list of plugins and BehaviorTrees from `yaml` file:
+``` bash
+ros2 launch btcpp_ros2_samples sample_bt_executor.launch.xml
+```
+
+> *NOTE:* For documentation on the `yaml` parameters please see [bt_executor_parameters.md](../behaviortree_ros2/bt_executor_parameters.md).
+
+As the Server starts up it will print out the name of the ROS Action followed by the plugins and BehaviorTrees it was able to load.
+```
+[bt_action_server]: Starting Action Server: bt_action_server
+[bt_action_server]: Loaded Plugin: libdummy_nodes_dyn.so
+[bt_action_server]: Loaded Plugin: libmovebase_node_dyn.so
+[bt_action_server]: Loaded Plugin: libcrossdoor_nodes_dyn.so
+[bt_action_server]: Loaded ROS Plugin: libsleep_plugin.so
+[bt_action_server]: Loaded BehaviorTree: door_closed.xml
+[bt_action_server]: Loaded Beha viorTree: cross_door.xml
+```
+
+To call the Action Server from the command line:
+``` bash
+ros2 action send_goal /bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: CrossDoor}"
+```
+
+You can also try a Behavior that is a ROS Action or Service client itself.
+```bash
+ros2 action send_goal /bt_action_server btcpp_ros2_interfaces/action/ExecuteTree "{target_tree: SleepActionSample}"
+```

btcpp_ros2_samples/launch/sample_bt_executor.launch.xml

@@ -1,8 +1,8 @@
 <launch>
   <arg name="sleep_server" default="true"/>
 
-  <node pkg="btcpp_ros2_samples" exec="simple_bt_executor" output="screen">
-    <param from="$(find-pkg-share btcpp_ros2_samples)/config/simple_bt_executor.yaml"/>
+  <node pkg="btcpp_ros2_samples" exec="sample_bt_executor" output="screen">
+    <param from="$(find-pkg-share btcpp_ros2_samples)/config/sample_bt_executor.yaml"/>
   </node>
 
   <group if="$(var sleep_server)">

btcpp_ros2_samples/src/sample_bt_executor.cpp

@@ -14,7 +14,7 @@
 #include <behaviortree_ros2/tree_execution_server.hpp>
 #include <behaviortree_cpp/loggers/bt_cout_logger.h>
 
-// Example that shows how to customize ActionServerBT.
+// Example that shows how to customize TreeExecutionServer.
 // Here, we simply add an extra logger
 class MyActionServer : public BT::TreeExecutionServer
 {