Robot States

[rafal-gorecki]

Related with: husarion/panther_msgs#82

Description

• Adds BT for managing the robot states
• Change lights tree to read robot_state
• Add use_docking to simulation.launch.py
• Rename are_buttons_pressed -> check_joy_msg and extend functionalities
• Add right now unused check_bool_msg plugin (to use it we need to modify BT code to be able to set up custom QOS setting)

Requirements

• Code style guidelines followed
• Documentation updated

Tests 🧪

• Robot
• Container
• Simulation

[delihus]

I started making the review but in my opinion the improvements, what you derived, fall outside the scope of the docking project.

Regarding to the feature of RobotState.
It touches every section of the robot even the battery management. If you would like to implement RobotState that way let's meet with whole team and brainstorm about that.
So for now, I recommend to:

1. plan new task what would implement RobotState and robot_state_manager (you have done most of it),
2. apply this feature to the main develop branch of panther_ros,
3. sync the docking project with the main develop branch,
4. add new state for Docking and Undocking actions to the docking project.

About managing behavior trees.
The RobotState should be read with BT::RosTopicSubNode<> as same as should be published with BT::RosTopicPubNode<>. It will make a tree more readable and will show when exactly RobotState is read.
We want to get rid of creating ROS instances inside managers in the future so we should change the way of your implementation.

[delihus]

According to our yesterday's meeting this should be closed, right @rafal-gorecki ?