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Initial reworked behavior trees #376

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54450e4
Initial reworked behavior trees
jmblixt3 Apr 12, 2025
8df1717
Something close to working, but not quite
jmblixt3 Apr 12, 2025
fe42bdc
fixed dig_location_server
jmblixt3 Apr 13, 2025
30b906f
controls txt
BergerKing333 Apr 13, 2025
a147214
More WIP
jmblixt3 Apr 13, 2025
269073e
Kinda working
jmblixt3 Apr 13, 2025
8fae574
actually working no cancel
jmblixt3 Apr 13, 2025
f0e7cfa
Some cleanup
jmblixt3 Apr 14, 2025
b859afd
uncommented line in dig location server
BergerKing333 Apr 14, 2025
001bbd7
linter
BergerKing333 Apr 14, 2025
14949cc
Updates for findings
jmblixt3 Apr 15, 2025
50536a3
new dig coords
BergerKing333 Apr 15, 2025
6cf3403
try these coords
BergerKing333 Apr 23, 2025
758f350
bug fix
BergerKing333 Apr 23, 2025
baa5be9
Some changes
jmblixt3 Apr 24, 2025
63dcd3c
this seems to work for now, want your thoughts on it
BergerKing333 Apr 24, 2025
713b120
Some changes
jmblixt3 Apr 24, 2025
b6bb703
some changes
jmblixt3 Apr 25, 2025
eebab24
some changes
jmblixt3 Apr 25, 2025
49a490d
some changes
jmblixt3 Apr 25, 2025
6c4a7da
auto formatting
Isopod00 Apr 26, 2025
915f070
devcontainer settings changes
Isopod00 Apr 26, 2025
78853d1
idk how to test this
BergerKing333 Apr 27, 2025
54ffc7e
small changes
jmblixt3 May 1, 2025
3a6cadc
last minor changes
Isopod00 May 3, 2025
08a8f9b
Squashed commit of the following:
Isopod00 May 7, 2025
73bada4
Merge branch 'main' into behavior-tree-jonathan
Isopod00 May 7, 2025
3ab6ec2
Squashed commit of the following:
Isopod00 May 9, 2025
aada75f
Fix groot2 issue when opening the "main_tree.xml"
CubeToPlay Feb 18, 2026
4dbbe69
Fix BT action result handling and register input ports
Vishwa18K Feb 18, 2026
790273a
updating behavior tree branch for this year (#439)
hdjwis Feb 20, 2026
bd9f522
Made wrapper get target x and y coordinates from dig location action …
Zheng271 Feb 20, 2026
f12acb1
Added logic in drive_to_dig_location where it checks uses inputted x …
Zheng271 Feb 20, 2026
4859ec2
Add inputs for backup distance and auger drill speed for auto dig, ad…
Zheng271 Mar 6, 2026
fef98e6
tweaked dig location server to get costmap from alex blox
Zheng271 Mar 20, 2026
5d95859
Edited auto dig removing the auger input
Zheng271 Mar 20, 2026
d615eec
configured backup distance in auto dig to account for costmap from al…
Zheng271 Mar 25, 2026
a52e10d
empty
KeerthanKrish Apr 3, 2026
b5dd766
added cancel_action as a groot2 node
KeerthanKrish Apr 8, 2026
b5693a3
Made do_nav_backup function from auto_dig_nav_offload as its own node…
Zheng271 Apr 9, 2026
4376e0f
Merge remote-tracking branch 'origin/behaviour-tree-keerthan' into be…
Zheng271 Apr 9, 2026
399f5f7
added new nodes into behavior tree executor
Zheng271 Apr 9, 2026
b124f2f
Accounted for returning result status
Zheng271 Apr 14, 2026
93851bc
Created action clients for the behavior tree action nodes + goal hand…
Zheng271 Apr 15, 2026
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34 changes: 10 additions & 24 deletions .devcontainer/devcontainer.json
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,8 @@
// "ROS_DOMAIN_ID": "${localEnv:ROS_DOMAIN_ID}"
},
"initializeCommand": "git config --global --add safe.directory '*' && git reset --soft && git submodule update --init --recursive && git config --global submodule.recurse true && git pull || true",
"postCreateCommand": "echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc && echo 'source /workspaces/Lunabotics/install/setup.bash' >> ~/.bashrc && sudo apt-get update && sudo apt install git-lfs",
"postCreateCommand": "sudo rm -f /etc/apt/sources.list.d/ros2.list && sudo rm -f /etc/apt/sources.list.d/ros2-latest.list && sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && echo \"deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu jammy main\" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && sudo apt-get update && sudo apt install -y git-lfs && echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc && echo 'source /workspaces/Lunabotics/install/setup.bash' >> ~/.bashrc && sudo chown -R admin:admin /workspaces/Lunabotics",

"postStartCommand": "rosdep update && rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y --skip-keys 'nvblox negotiated draco_point_cloud_transport point_cloud_transport_plugins ffmpeg_encoder_decoder ffmpeg_image_transport isaac_ros_peoplesemseg_models_install isaac_ros_h264_decoder isaac_ros_unet isaac_ros_triton isaac_ros_dnn_image_encoder nova_carter_navigation'",
// "mounts": [
// "type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix",
Expand Down Expand Up @@ -48,35 +49,20 @@
"files.autoSave": "afterDelay",
"editor.formatOnSave": true,
"[python]": {
"editor.formatOnPaste": false,
"editor.formatOnSaveMode": "file"
},
"[workbench.view.extension]": {
"ms-python.python": false
"editor.defaultFormatter": "ms-python.black-formatter",
"editor.formatOnSave": true,
"editor.codeActionsOnSave": {
"source.fixAll": "explicit"
}
},
"black-formatter.args": [
"--line-length",
"120"
],
"[C_Cpp]": {
"default.cppStandard": "c++17",
"default.cStandard": "c99"
"[c++]": {
"editor.defaultFormatter": "ms-vscode.cpptools"
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"ruff.lineLength": 99,
"ruff.lint.enable": true,
"ruff.lint.select": [
"A",
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"D",
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"F",
"I",
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"ruff.nativeServer": true,
"C_Cpp.clang_format_fallbackStyle": "Google",
"C_Cpp.clang_format_fallbackStyle": "{ ColumnLimit: 120 }",
"diffEditor.ignoreTrimWhitespace": false,
// Make bash the default shell in the container terminal
"terminal.integrated.defaultProfile.linux": "bash"
Expand Down
6 changes: 6 additions & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -30,3 +30,9 @@
path = src/isaac_ros/isaac_ros_nvblox
url = https://github.com/GOFIRST-Robotics/isaac_ros_nvblox.git
branch = main
[submodule "src/behaviortree_ros2"]
path = src/behaviortree_ros2
url = https://github.com/BehaviorTree/BehaviorTree.ROS2.git
[submodule "src/behaviortree_cpp"]
path = src/behaviortree_cpp
url = https://github.com/BehaviorTree/BehaviorTree.CPP.git
15 changes: 3 additions & 12 deletions .vscode/tasks.json
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
"tasks": [
{
"label": "Build All Task",
"type": "colcon",
"command": "colcon",
"args": [
"build",
"--symlink-install"
Expand All @@ -13,7 +13,7 @@
},
{
"label": "Build No GPU Task",
"type": "colcon",
"command": "colcon",
"args": [
"build",
"--symlink-install",
Expand All @@ -24,15 +24,6 @@
],
"problemMatcher": [],
"group": "build"
},
{
"label": "Test All",
"type": "colcon",
"args": [
"test"
],
"problemMatcher": [],
"group": "test"
},
}
]
}
253 changes: 253 additions & 0 deletions Back + Sides.perspective
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Original file line number Diff line number Diff line change
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