BT on ROS 2

BT_ros2 is a demo of how to use Behavior Tree to control AMR. All the examples are tested on our NeuronBot simulation. If you are interested in NeuronBot simulation, please go to see the tutorials: https://github.com/Adlink-ROS/neuronbot2#bring-up-in-simulation

Build

1. git clone the repo.

mkdir -p ~/bt_ros2_ws/src
cd ~/bt_ros2_ws/src
git clone https://github.com/Adlink-ROS/BT_ros2.git

1. Install dependencies

source /opt/ros/<ROS2_DISTRO>/setup.bash
cd ~/bt_ros2_ws
rosdep install --from-paths src --ignore-src -r -y

1. Build

colcon build --symlink-install
# If you want to build with OpenVINO support, add the define
# Remember to source OpenVINO before build
colcon build --symlink-install --cmake-args -DBUILD_OPENVINO=ON

Usage

We will run Gazebo with NeuronBot2 and show simple BT examples.

Basic Example

This example makes NeuronBot2 continuously moving between the pre-defined three goals in

```.

* Open 1st terminal and run mememan world.

```bash
source /opt/ros/<ROS2_DISTRO>/local_setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash
ros2 launch neuronbot2_gazebo neuronbot2_world.launch.py world_model:=mememan_world.model

• Open 2nd terminal and run navigation.

source /opt/ros/<ROS2_DISTRO>/local_setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash
ros2 launch neuronbot2_nav bringup_launch.py map:=$HOME/neuronbot2_ros2_ws/src/neuronbot2/neuronbot2_nav/map/mememan.yaml open_rviz:=true use_sim_time:=true

• Open 3rd termainal and run BT.

source /opt/ros/<ROS2_DISTRO>/local_setup.bash
source ~/bt_ros2_ws/install/local_setup.bash
ros2 launch bt_ros2 bt_ros2.launch.py

Advanced Example - Interrupt

In this example (refer to

```), when BT receives /interrupt_event, which is gohome, then NeuronBot2 will move to Goal_c.

* Open 1st terminal and run mememan world.

```bash
source /opt/ros/<ROS2_DISTRO>/local_setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash
ros2 launch neuronbot2_gazebo neuronbot2_world.launch.py world_model:=mememan_world.model

• Open 2nd terminal and run navigation.

source /opt/ros/<ROS2_DISTRO>/local_setup.bash
source ~/neuronbot2_ros2_ws/install/local_setup.bash
ros2 launch neuronbot2_nav bringup_launch.py map:=$HOME/neuronbot2_ros2_ws/src/neuronbot2/neuronbot2_nav/map/mememan.yaml open_rviz:=true use_sim_time:=true

• Open 3rd termainal and run BT.

source /opt/ros/<ROS2_DISTRO>/local_setup.bash
source ~/bt_ros2_ws/install/local_setup.bash
ros2 run bt_ros2 bt_ros2 --ros-args -p bt_xml:=$HOME/bt_ros2_ws/src/BT_ros2/bt_xml/bt_nav_mememan_interrupt.xml

• Open 4th terminal and pub interrupt event.

source /opt/ros/<ROS2_DISTRO>/local_setup.bash
ros2 topic pub -1 /interrupt_event std_msgs/msg/String data:\ \'gohome\'

Advanced Example - Take a snapshot

The demo is to show how to take snapshots with BT example. You need to install OpenVINO and its ROS 2 wrapper before using the example.

• Open 1st terminal and run OpenVINO object detection

# Source ROS 2 environment
# Setup OpenVINO environment and source wrapper
ros2 launch dynamic_vino_sample pipeline_object.launch.py

• Open 2nd terminal and run image_saver
  • If you don’t have image_view, please run sudo apt install ros-${ROS_DISTRO}-image-view

# Source ROS 2 environment
ros2 run image_view image_saver image:=ros2_openvino_toolkit/image_rviz

• Open 3rd terminal and run BT

```bash

File truncated at 100 lines see the full file