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Add BehaviorTree visualization support using Groot #1725

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May 14, 2020
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Add BehaviorTree visualization support using Groot #1725

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42972ac
Add BehaviorTree visualization support using Groot
Sarath18 May 13, 2020
ecbc336
Rearrange files and minor updates
Sarath18 May 14, 2020
199b22b
Add distance controller node in nav2 TreeNodesModel
Sarath18 May 14, 2020
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2 changes: 2 additions & 0 deletions nav2_behavior_tree/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -123,6 +123,8 @@ install(DIRECTORY include/
DESTINATION include/
)

install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
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12 changes: 12 additions & 0 deletions nav2_behavior_tree/groot_instructions.md
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@@ -0,0 +1,12 @@
# Instructions on using Groot
[Groot](https://github.com/BehaviorTree/Groot) is the companion application of [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP) to create, edit, and monitor behavior trees.

##### Note: Currently fully supports visualization of the behavior trees. It also supports the creation of custom nodes except control flow nodes. Support for custom control flow nodes and real-time monitoring is under development.

### BehaviorTree visualization
To visualize the behavior trees using Groot:
1. Open Groot in editor mode
2. Select the `Load palette from file` option (import button) near the top left corner.
3. Open the file `/path/to/navigation2/nav2_behavior_tree/nav2_tree_nodes.xml` to import all the behavior tree nodes used for navigation.
4. Select `Load tree` option near the top left corner
5. Browse the tree you want to visualize the select ok.
76 changes: 76 additions & 0 deletions nav2_behavior_tree/nav2_tree_nodes.xml
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<?xml version="1.0"?>
<!--
For instructions on using Groot and description of the following BehaviorTree nodes,
please refer to the groot_instructions.md and REAMDE.md respectively located in the
nav2_behavior_tree package.
-->
<root>
<TreeNodesModel>
<!-- ############################### ACTION NODES ################################# -->
<Action ID="BackUp">
<input_port name="backup_dist">Distance to backup</input_port>
<input_port name="backup_speed">Speed at which to backup</input_port>
</Action>

<Action ID="ClearEntireCostmap">
<input_port name="service_name">Service name</input_port>
</Action>

<Action ID="ComputePathToPose">
<input_port name="goal">Destination to plan to</input_port>
<output_port name="path">Path created by ComputePathToPose node</output_port>
<input_port name="planner_id"/>
</Action>

<Action ID="FollowPath">
<input_port name="controller_id" default="FollowPath"/>
<input_port name="path">Path to follow</input_port>
</Action>

<Action ID="NavigateToPose">
<input_port name="orientation">Orientation</input_port>
<input_port name="position">Position</input_port>
</Action>

<Action ID="RandomCrawl"/>

<Action ID="Spin">
<input_port name="spin_dist">Spin distance</input_port>
</Action>

<Action ID="Wait">
<input_port name="wait_duration">Wait time</input_port>
</Action>

<!-- ############################### CONDITION NODES ############################## -->
<Condition ID="GoalReached">
<input_port name="goal">Destination</input_port>
</Condition>

<Condition ID="IsStuck"/>

<Condition ID="TransformAvailable">
<input_port name="child">Child frame for transform</input_port>
<input_port name="parent">Parent frame for transform</input_port>
</Condition>

<!-- ############################### CONTROL NODES ################################ -->
<Control ID="PipelineSequence"/>

<Control ID="RecoveryNode">
<input_port name="number_of_retries">Number of retries</input_port>
</Control>

<Control ID="RoundRobin"/>

<!-- ############################### DECORATOR NODES ############################## -->
<Decorator ID="RateController">
<input_port name="hz">Rate</input_port>
</Decorator>

<Decorator ID="DistanceController">
<input_port name="distance">Distance</input_port>
</Decorator>

</TreeNodesModel>
</root>