fix issue #63 : expose factory and rclcppNode

Author: facontidavide

behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp

@@ -51,20 +51,25 @@ class TreeExecutionServer
   /**
    * @brief Gets the NodeBaseInterface of node_.
    * @details This function exists to allow running TreeExecutionServer as a component in a composable node container.
-   *
-   * @return A shared_ptr to the NodeBaseInterface of node_.
+   * The name of this method shall not change to work properly with the component composer.
    */
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr nodeBaseInterface();
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface();
+
+  /// @brief Gets the rclcpp::Node pointer
+  rclcpp::Node::SharedPtr node();
 
-  // name of the tree being executed
+  /// @brief Name of the tree being executed
   const std::string& currentTreeName() const;
 
-  // tree being executed, nullptr if it doesn't exist yet.
+  /// @brief Tree being executed, nullptr if it doesn't exist, yet.
   BT::Tree* currentTree();
 
-  // pointer to the global blackboard
+  /// @brief Pointer to the global blackboard
   BT::Blackboard::Ptr globalBlackboard();
 
+  /// @brief Pointer to the global blackboard
+  BT::BehaviorTreeFactory& factory();
+
 protected:
   /**
    * @brief Callback invoked after the tree is created.

behaviortree_ros2/src/tree_execution_server.cpp

@@ -95,11 +95,16 @@ TreeExecutionServer::TreeExecutionServer(const rclcpp::NodeOptions& options)
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
-TreeExecutionServer::nodeBaseInterface()
+TreeExecutionServer::get_node_base_interface()
 {
   return p_->node->get_node_base_interface();
 }
 
+rclcpp::Node::SharedPtr TreeExecutionServer::node()
+{
+  return p_->node;
+}
+
 rclcpp_action::GoalResponse
 TreeExecutionServer::handle_goal(const rclcpp_action::GoalUUID& /* uuid */,
                                  std::shared_ptr<const ExecuteTree::Goal> goal)
@@ -262,4 +267,9 @@ BT::Blackboard::Ptr TreeExecutionServer::globalBlackboard()
   return p_->global_blackboard;
 }
 
+BT::BehaviorTreeFactory& TreeExecutionServer::factory()
+{
+  return p_->factory;
+}
+
 }  // namespace BT

btcpp_ros2_samples/src/sample_bt_executor.cpp

@@ -28,8 +28,7 @@ class MyActionServer : public BT::TreeExecutionServer
   MyActionServer(const rclcpp::NodeOptions& options) : TreeExecutionServer(options)
   {
     // here we assume that the battery voltage is published as a std_msgs::msg::Float32
-    auto node = std::dynamic_pointer_cast<rclcpp::Node>(nodeBaseInterface());
-    sub_ = node->create_subscription<std_msgs::msg::Float32>(
+    sub_ = node()->create_subscription<std_msgs::msg::Float32>(
         "battery_level", 10, [this](const std_msgs::msg::Float32::SharedPtr msg) {
           // Update the global blackboard
           globalBlackboard()->set("battery_level", msg->data);
@@ -68,9 +67,9 @@ int main(int argc, char* argv[])
   // Deadlock is caused when Publishers or Subscribers are dynamically removed as the node is spinning.
   rclcpp::executors::MultiThreadedExecutor exec(rclcpp::ExecutorOptions(), 0, false,
                                                 std::chrono::milliseconds(250));
-  exec.add_node(action_server->nodeBaseInterface());
+  exec.add_node(action_server->node());
   exec.spin();
-  exec.remove_node(action_server->nodeBaseInterface());
+  exec.remove_node(action_server->node());
 
   rclcpp::shutdown();
 }