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Migrate to BT.CPP v4 #47

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Migrate to BT.CPP v4 #47

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4 changes: 2 additions & 2 deletions opennav_coverage_bt/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -12,7 +12,7 @@ find_package(nav2_behavior_tree REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(opennav_coverage_msgs REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
find_package(behaviortree_cpp REQUIRED)

# potentially replace with nav2_common, nav2_package()
set(CMAKE_CXX_STANDARD 17)
@@ -33,7 +33,7 @@ set(dependencies
nav_msgs
geometry_msgs
opennav_coverage_msgs
behaviortree_cpp_v3
behaviortree_cpp
)

add_library(opennav_compute_complete_coverage_action_bt_node SHARED src/compute_complete_coverage_path.cpp)
2 changes: 1 addition & 1 deletion opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp
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Original file line number Diff line number Diff line change
@@ -16,7 +16,7 @@
#define OPENNAV_COVERAGE_BT__UTILS_HPP_

#include <charconv>
#include "behaviortree_cpp_v3/behavior_tree.h"
#include "behaviortree_cpp/behavior_tree.h"

namespace BT
{
2 changes: 1 addition & 1 deletion opennav_coverage_bt/package.xml
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Original file line number Diff line number Diff line change
@@ -18,7 +18,7 @@
<depend>nav_msgs</depend>
<depend>geometry_msgs</depend>
<depend>opennav_coverage_msgs</depend>
<depend>behaviortree_cpp_v3</depend>
<depend>behaviortree_cpp</depend>

<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
2 changes: 1 addition & 1 deletion opennav_coverage_bt/src/cancel_complete_coverage_path.cpp
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Original file line number Diff line number Diff line change
@@ -31,7 +31,7 @@ CoverageCancel::CoverageCancel(

} // namespace opennav_coverage_bt

#include "behaviortree_cpp_v3/bt_factory.h"
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
BT::NodeBuilder builder =
2 changes: 1 addition & 1 deletion opennav_coverage_bt/src/compute_complete_coverage_path.cpp
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Original file line number Diff line number Diff line change
@@ -98,7 +98,7 @@ void ComputeCoveragePathAction::halt()

} // namespace opennav_coverage_bt

#include "behaviortree_cpp_v3/bt_factory.h"
#include "behaviortree_cpp/bt_factory.h"
BT_REGISTER_NODES(factory)
{
BT::NodeBuilder builder =
2 changes: 1 addition & 1 deletion opennav_coverage_bt/test/test_cancel_complete_coverage.cpp
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Original file line number Diff line number Diff line change
@@ -17,7 +17,7 @@
#include <set>
#include <string>

#include "behaviortree_cpp_v3/bt_factory.h"
#include "behaviortree_cpp/bt_factory.h"

#include "nav2_behavior_tree/utils/test_action_server.hpp"
#include "opennav_coverage_bt/cancel_complete_coverage_path.hpp"
6 changes: 3 additions & 3 deletions opennav_coverage_bt/test/test_compute_coverage_path.cpp
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Original file line number Diff line number Diff line change
@@ -20,7 +20,7 @@
#include "nav_msgs/msg/path.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"

#include "behaviortree_cpp_v3/bt_factory.h"
#include "behaviortree_cpp/bt_factory.h"

#include "nav2_behavior_tree/utils/test_action_server.hpp"
#include "opennav_coverage_bt/compute_complete_coverage_path.hpp"
@@ -141,13 +141,13 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick)

// check if returned path is correct
nav_msgs::msg::Path path;
config_->blackboard->get<nav_msgs::msg::Path>("path", path);
[[maybe_unused]] auto res = config_->blackboard->get<nav_msgs::msg::Path>("path", path);
EXPECT_EQ(path.poses.size(), 2u);
EXPECT_EQ(path.poses[0].pose.position.x, 0.0);
EXPECT_EQ(path.poses[1].pose.position.x, 1.0);

// halt node so another goal can be sent
tree_->rootNode()->halt();
tree_->haltTree();
EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE);
}