Merge remote-tracking branch 'btros2-fork/humble' into humble

Author: jocacace

.clang-format

@@ -0,0 +1,68 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializers: BeforeComma
+BinPackParameters: true
+ColumnLimit: 90
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: Never
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+ReflowComments: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true',
+    AfterControlStatement: 'true',
+    AfterEnum : 'true',
+    AfterFunction : 'true',
+    AfterNamespace : 'true',
+    AfterStruct : 'true',
+    AfterUnion : 'true',
+    BeforeCatch : 'true',
+    BeforeElse : 'true',
+    IndentBraces : 'false',
+    SplitEmptyFunction: 'false'
+}
+...

.github/workflows/pre-commit.yaml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [master]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/[email protected]

.github/workflows/test.yml

@@ -0,0 +1,28 @@
+name: Test
+on:
+  pull_request:
+  push:
+    branches:
+      - humble
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+    strategy:
+      fail-fast: false
+      matrix:
+          ros_distro: [humble]
+    steps:
+    - name: Build and run tests
+      id: action-ros-ci
+      uses: ros-tooling/[email protected]
+      with:
+        target-ros2-distro: ${{ matrix.ros_distro }}
+    - uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log

.gitignore

@@ -1 +1,36 @@
+<<<<<<< HEAD
 .deps/*
+=======
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+>>>>>>> btros2-fork/humble

.pre-commit-config.yaml

@@ -0,0 +1,44 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+exclude: ^3rdparty/|3rdparty|^include/behaviortree_cpp/contrib/
+repos:
+
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+        exclude_types: [svg]
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [svg]
+      - id: fix-byte-order-marker
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']

README.md

@@ -60,6 +60,7 @@ Our main goals are:
 - to minimize the amount of boilerplate.
 - to make asynchronous Actions non-blocking.
 
+<<<<<<< HEAD
 It uses [behaviortree_eut_plugins](https://ice.eurecat.org/gitlab/robotics-automation/behavior_tree_eut_plugins) for augmenting its original [public version](https://github.com/BehaviorTree/BehaviorTree.ROS2.git) with custom serialization and deserialization policies, providing out of the box json one, essentially adding the following plugins templates to be used with a one-liner:
 
 Plugin Template | Deserialization Policy | Serialization Policy | Extra Pre/Post processing 
@@ -148,6 +149,9 @@ Note that you can specialize some functions for specific MessageType `T` in the
 # Examples
 
 # Further Documentation
+=======
+# Documentation
+>>>>>>> btros2-fork/humble
 
 - [ROS Behavior Wrappers](behaviortree_ros2/ros_behavior_wrappers.md)
 - [TreeExecutionServer](behaviortree_ros2/tree_execution_server.md)
@@ -156,9 +160,15 @@ Note that you can specialize some functions for specific MessageType `T` in the
 Note that this library is compatible **only** with:
 
 - **BT.CPP** 4.6 or newer.
+<<<<<<< HEAD
 - **ROS2** Humble or Jazzy.
 
 Additionally, check **plugins.hpp** and **plugins.cpp** to see how to learn how to
+=======
+- **ROS2** Humble or newer.
+
+Additionally, check **plugins.hpp** to see how to learn how to
+>>>>>>> btros2-fork/humble
 wrap your Nodes into plugins that can be loaded at run-time.
 
 

behaviortree_ros2/CMakeLists.txt

@@ -4,14 +4,18 @@ project(behaviortree_ros2)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+<<<<<<< HEAD
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 add_compile_options(-fPIC)
 
+=======
+>>>>>>> btros2-fork/humble
 set(THIS_PACKAGE_DEPS
     rclcpp
     rclcpp_action
     ament_index_cpp
     behaviortree_cpp
+<<<<<<< HEAD
     behaviortree_eut_plugins
     btcpp_ros2_interfaces
     generate_parameter_library
@@ -23,6 +27,10 @@ set(THIS_PACKAGE_DEPS
     tf2
     tf2_geometry_msgs
     tf2_ros
+=======
+    btcpp_ros2_interfaces
+    generate_parameter_library
+>>>>>>> btros2-fork/humble
     )
 
 find_package(ament_cmake REQUIRED)
@@ -31,6 +39,10 @@ foreach(PACKAGE ${THIS_PACKAGE_DEPS})
     find_package(${PACKAGE} REQUIRED )
 endforeach()
 
+<<<<<<< HEAD
+=======
+
+>>>>>>> btros2-fork/humble
 generate_parameter_library(
     bt_executor_parameters
     src/bt_executor_parameters.yaml)
@@ -48,6 +60,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 
 target_link_libraries(${PROJECT_NAME}  bt_executor_parameters)
 
+<<<<<<< HEAD
 # Executable to generate xml from .so plugin for "simple" and ros2 based bt plugins .so
 add_executable(bt_ros_plugins_to_xml         src/tools/bt_ros_plugins_to_xml.cpp )
 include_directories(${behaviortree_cpp_INCLUDE_DIRS} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
@@ -61,13 +74,18 @@ target_include_directories(${PROJECT_NAME}_nodemodels PRIVATE
 target_compile_definitions(${PROJECT_NAME}_nodemodels PRIVATE  BT_PLUGIN_EXPORT )
 ament_target_dependencies(${PROJECT_NAME}_nodemodels ${THIS_PACKAGE_DEPS})
 
+=======
+>>>>>>> btros2-fork/humble
 
 ######################################################
 # INSTALL
 
+<<<<<<< HEAD
 install(TARGETS bt_ros_plugins_to_xml
         DESTINATION lib/${PROJECT_NAME} )
 
+=======
+>>>>>>> btros2-fork/humble
 install(DIRECTORY include/  DESTINATION include/)
 
 ament_export_targets(${PROJECT_NAME}Targets  HAS_LIBRARY_TARGET)
@@ -80,6 +98,7 @@ install(
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME})
 
+<<<<<<< HEAD
 # Recover subfolder path for plugins
 execute_process(
     COMMAND bash -c "xmllint --xpath 'string(//description/plugins/@folder_path)' plugins_description.xml | awk '{print \$1\}'"
@@ -129,6 +148,8 @@ ament_index_register_resource(
   CONTENT_FILE "${CMAKE_CURRENT_SOURCE_DIR}/palettes_description.xml"
 )
 
+=======
+>>>>>>> btros2-fork/humble
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 

behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp

@@ -546,6 +546,7 @@ inline void RosActionNode<T>::cancelGoal()
 
   auto& action_client = client_instance_->action_client;
 
+<<<<<<< HEAD
   try
   {
     auto future_result = action_client->async_get_result(goal_handle_);
@@ -571,6 +572,23 @@ inline void RosActionNode<T>::cancelGoal()
   }
   catch(const std::exception& ex) {
     RCLCPP_ERROR(logger(), "Exception while canceling goal: %s", ex.what());
+=======
+  auto future_result = action_client->async_get_result(goal_handle_);
+  auto future_cancel = action_client->async_cancel_goal(goal_handle_);
+
+  constexpr auto SUCCESS = rclcpp::FutureReturnCode::SUCCESS;
+
+  if(executor.spin_until_future_complete(future_cancel, server_timeout_) != SUCCESS)
+  {
+    RCLCPP_ERROR(logger(), "Failed to cancel action server for [%s]",
+                 action_name_.c_str());
+  }
+
+  if(executor.spin_until_future_complete(future_result, server_timeout_) != SUCCESS)
+  {
+    RCLCPP_ERROR(logger(), "Failed to get result call failed :( for [%s]",
+                 action_name_.c_str());
+>>>>>>> btros2-fork/humble
   }
 }