From 03b221f0fcce7bb99f8d4877ef92f0f2f8cbc9c5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ander=20Gonz=C3=A1lez?= <ander.gonzalez@ikerlan.es>
Date: Thu, 23 Jan 2025 09:27:42 +0100
Subject: [PATCH 1/2] Add service to get the list of loaded trees

---
 behaviortree_ros2/src/tree_execution_server.cpp | 13 +++++++++++++
 btcpp_ros2_interfaces/CMakeLists.txt            |  1 +
 btcpp_ros2_interfaces/srv/GetTrees.srv          |  8 ++++++++
 3 files changed, 22 insertions(+)
 create mode 100644 btcpp_ros2_interfaces/srv/GetTrees.srv

diff --git a/behaviortree_ros2/src/tree_execution_server.cpp b/behaviortree_ros2/src/tree_execution_server.cpp
index f712a52..b851bd6 100644
--- a/behaviortree_ros2/src/tree_execution_server.cpp
+++ b/behaviortree_ros2/src/tree_execution_server.cpp
@@ -25,6 +25,8 @@
 
 #include "behaviortree_cpp/loggers/groot2_publisher.h"
 
+#include "btcpp_ros2_interfaces/srv/get_trees.hpp"
+
 // generated file
 #include "bt_executor_parameters.hpp"
 namespace
@@ -35,6 +37,8 @@ static const auto kLogger = rclcpp::get_logger("bt_action_server");
 namespace BT
 {
 
+using GetTrees = btcpp_ros2_interfaces::srv::GetTrees;
+
 struct TreeExecutionServer::Pimpl
 {
   rclcpp_action::Server<ExecuteTree>::SharedPtr action_server;
@@ -43,6 +47,8 @@ struct TreeExecutionServer::Pimpl
   std::shared_ptr<bt_server::ParamListener> param_listener;
   bt_server::Params params;
 
+  rclcpp::Service<GetTrees>::SharedPtr get_trees_service;
+
   BT::BehaviorTreeFactory factory;
   std::shared_ptr<BT::Groot2Publisher> groot_publisher;
 
@@ -88,6 +94,13 @@ TreeExecutionServer::TreeExecutionServer(const rclcpp::Node::SharedPtr& node)
     p_->single_shot_timer->cancel();
   };
 
+  p_->get_trees_service = node_->create_service<GetTrees>(
+      "get_loaded_trees",
+      [this](const std::shared_ptr<GetTrees::Request> _,
+             std::shared_ptr<GetTrees::Response> response) {
+        response->tree_ids = p_->factory.registeredBehaviorTrees();
+      });
+
   p_->single_shot_timer =
       node_->create_wall_timer(std::chrono::milliseconds(1), callback);
 }
diff --git a/btcpp_ros2_interfaces/CMakeLists.txt b/btcpp_ros2_interfaces/CMakeLists.txt
index 23ca9aa..764f3cd 100644
--- a/btcpp_ros2_interfaces/CMakeLists.txt
+++ b/btcpp_ros2_interfaces/CMakeLists.txt
@@ -9,6 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(btcpp_ros2_interfaces
     "msg/NodeStatus.msg"
+    "srv/GetTrees.srv"
     "action/ExecuteTree.action"
     "action/Sleep.action")
 
diff --git a/btcpp_ros2_interfaces/srv/GetTrees.srv b/btcpp_ros2_interfaces/srv/GetTrees.srv
new file mode 100644
index 0000000..e895280
--- /dev/null
+++ b/btcpp_ros2_interfaces/srv/GetTrees.srv
@@ -0,0 +1,8 @@
+#### Request ####
+# Empty
+
+---
+#### Result ####
+
+# Ids of the available trees
+string[] tree_ids

From 6e18d66ad59fe1dea6287fbb8504477932edeeb6 Mon Sep 17 00:00:00 2001
From: Ander Gonzalez <ander.gonzalez@ikerlan.es>
Date: Fri, 24 Jan 2025 13:04:59 +0100
Subject: [PATCH 2/2] apply clang-format

---
 behaviortree_ros2/src/tree_execution_server.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/behaviortree_ros2/src/tree_execution_server.cpp b/behaviortree_ros2/src/tree_execution_server.cpp
index b851bd6..f63d22a 100644
--- a/behaviortree_ros2/src/tree_execution_server.cpp
+++ b/behaviortree_ros2/src/tree_execution_server.cpp
@@ -95,9 +95,8 @@ TreeExecutionServer::TreeExecutionServer(const rclcpp::Node::SharedPtr& node)
   };
 
   p_->get_trees_service = node_->create_service<GetTrees>(
-      "get_loaded_trees",
-      [this](const std::shared_ptr<GetTrees::Request> _,
-             std::shared_ptr<GetTrees::Response> response) {
+      "get_loaded_trees", [this](const std::shared_ptr<GetTrees::Request> _,
+                                 std::shared_ptr<GetTrees::Response> response) {
         response->tree_ids = p_->factory.registeredBehaviorTrees();
       });