feat: add new flexbe states and behaviors

Add new states:
- estimate_pose: pose estimation state
- find_tf: TF lookup state
- generic_service_toggle_state: toggle generic services
- mapper_state: mapping functionality

Update existing states and behaviors for improved functionality.
Fix pre-commit issues and update configuration files.

Author: sambertibus99

.LICENSE

@@ -0,0 +1,13 @@
+# Copyright 2023 Carologistics
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.

.flake8

@@ -1,118 +1,39 @@
-# FlexBE States and Behaviors for caro_skills
+# Installing Flexbe
 
-Generic template for a behaviors repository to be used for new projects
+Follow the README in the [flexbe behavior engine repo](https://github.com/FlexBE/flexbe_behavior_engine) and the [flexbe webUI](https://github.com/FlexBE/flexbe_webui).
 
-Modify this README as needed for your specific project details.
+# Storing Behaviors
 
-Below we provide basic details, but you are free to delete or modify this README as you wish.
+Behaviors typically edited and generated by the FlexBE UI.
+These generated files are stored in the
+`install/caro_skills_flexbe_behaviors/lib/caro_skills_flexbe_behaviors/manifest` and
+`install/caro_skills_flexbe_behaviors/python3.12/site-packages/caro_skills_flexbe_behaviors` folder.
 
-----
+To store it properly, save these files in the `src/caro_flexbe_behavior/manifest` and `src/caro_skills_flexbe_behaviors/caro_skills_flexbe_behaviors` folders.
 
-This raw repository has several folders and files with the generic name `caro_skills`.
-
-
-This repository is used by the FlexBE widget 
-[`create_repo`](https://github.com/FlexBE/flexbe_behavior_engine/blob/ros2-devel/flexbe_widget/bin/create_repo) 
-script to create an example project that you can build off of to add your own states and behaviors.  
-
-Using `ros2 run flexbe_widget create_repo <my_new_project_name>` will clone this repository, 
-and change the relevant `caro_skills` text to `my_new_project_name` as needed.
-
-It sets up the `package.xml` files with proper FlexBE export tags.
-It is maintained at version `0.0.1` as the starting point for your work.
-
-We have provided a license file to conform to ROS guidelines; however, you are free to replace the 
-`LICENSE` file, and apply whatever license you choose to states and behaviors that you create.
-
-This repository contains an example behavior and examples for writing your own state implementations.
-
-## Example States in `caro_skills_flexbe_states`
-
-Packages providing FlexBE states are identified by an export tag in the `package.xml`:
-
-```xml
-  <export>
-      <flexbe_states />
-      <build_type>ament_cmake</build_type>
-  </export>
-```
-
-* `example_state.py `
-  * Example state implementation with extra console logging to show the state life cycle.
-
-* `example_action_state.py`
-
-> Note: These example states are defined with extra console logging that is useful when learning FlexBE, 
-> but you will typically not include so much of the `Logger.info` commands as in these examples.
-
-> Note: You are free to copy and modify these files to create your own files and publish under your own license terms.
-> As per the existing licenses, no warranty is implied.
-
-## Example Behaviors in `caro_skills_flexbe_behaviors`
-
-Packages providing FlexBE behaviors are identified by an export tag in the `package.xml`:
-
-```xml
-  <export>
-      <flexbe_behaviors />
-      <build_type>ament_cmake</build_type>
-  </export>
-```
-
-  * `example_behavior_sm.py`
-    * Most basic example state machine
-
-  * `example_action_behavior_sm.py` 
-    * Uses the `ExampleActionState` with the standard action tutorials 
-
-        [Understanding ROS2 Actions](https://docs.ros.org/en/iron/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.html)
-
-        [Introducing Turtlesim](https://docs.ros.org/en/iron/Tutorials/Beginner-CLI-Tools/Introducing-Turtlesim/Introducing-Turtlesim.html)
-        
-        To execute the associated behavior in FlexBE, you need to first run the turtlesim node that provdes the action server
-
-        `ros2 run turtlesim turtlesim_node`
-        
-        To display the available actions:
-
-        `ros2 action list`
-        
-        The action is defined by:
-
-        `/turtle1/rotate_absolute:` [`turtlesim/action/RotateAbsolute`](https://docs.ros2.org/latest/api/turtlesim/action/RotateAbsolute.html)
-
-Behaviors typically edited and generated by the FlexBE UI.  
-These generated files are stored in the root workspace `install` folder.
-Presuming a `WORKSPACE_ROOT` environment variable exists, we provide a simple 
-[`copy_behavior`](caro_skills_flexbe_behaviors/bin/copy_behavior) script to copy a saved behavior 
-&mdash; both the Python implementation and manifest `.xml` file &mdash; 
-to the project source folder for long term storage.
-Use `ros2 run caro_skills_flexbe_behavior copy_behavior` to see the usage guide. 
-The script should be run from this repository's base folder.
-
-For a Quick-start and more comprehensive introduction to FlexBE, 
-see the [FlexBE Turtlesim Demonstrations](https://github.com/FlexBE/flexbe_turtlesim_demo).
-
-# Our instructions:
-
-### start WebUI:
+# Start WebUI:
 
 ```ros2 launch flexbe_webui flexbe_ocs.launch.py headless:=True```
 
 ```ros2 run flexbe_webui webui_client```
 
 ```ros2 launch flexbe_onboard behavior_onboard.launch.py```
 
-## start behavior without WebUI:
+# Start behavior without WebUI:
 
 requires flexbe_behavior_engine to be on carologistic's fork on branch [mtschesche/action_server_jazzy](https://github.com/carologistics/flexbe_behavior_engine/tree/mtschesche/action_server_jazzy)
 
 ```ros2 launch flexbe_onboard behavior_onboard.launch.py```
 
 ```ros2 run flexbe_widget be_action_server```
 
-example:
+## Examples for starting behaviors via action server:
 
+MoveTo:
 ```
 ros2 action send_goal /flexbe/execute_behavior flexbe_msgs/action/BehaviorExecution "{behavior_name: 'MoveTo', input_keys: ['frame_id','target_x','target_y','target_yaw'], input_values: ['map','3.0','4.5','1.0']}"
 ```
+MotorMove:
+```
+ros2 action send_goal /flexbe/execute_behavior flexbe_msgs/action/BehaviorExecution "{behavior_name: 'MotorMove', input_keys: ['frame_id','target_x','target_y','target_yaw'], input_values: ['robotinobase1/base_link','0.0','-10.0','0.0']}"
+```

CONTRIBUTING.md

@@ -4,4 +4,4 @@ Changelog for package caro_flexbe_behavior
 
 0.0.1 (2023-07-21)
 ------------------
-* Initial release of ROS 2 example FlexBE project
+* Initial release of ROS 2 example FlexBE project

README.md

@@ -4,4 +4,4 @@ Changelog for package caro_skills_flexbe_behaviors
 
 0.0.1 (2023-07-21)
 ------------------
-* Initial release of ROS 2 example FlexBE behaviors
+* Initial release of ROS 2 example FlexBE behaviors

caro_flexbe_behavior/CHANGELOG.rst

@@ -39,7 +39,7 @@ fi
 
 beh=$(echo "$1" | cut -f 1 -d '.')  # include only the base file name is someone pastes .xml name
 pack="caro_skills_flexbe_behaviors"  # Default name uses this behaviors package
-if [ $# -eq 2 ]; then 
+if [ $# -eq 2 ]; then
     pack="$2"
     echo "Using specified package '${pack}'!"
 fi
@@ -97,4 +97,4 @@ else
     echo ""
     echo -e "\e[91m Failed to copy behavior '${beh}'!\033[0m"
     exit
-fi
+fi

caro_skills_flexbe_behaviors/CHANGELOG.rst

@@ -0,0 +1,13 @@
+# # Copyright 2026 Carologistics
+# #
+# # Licensed under the Apache License, Version 2.0 (the "License");
+# # you may not use this file except in compliance with the License.
+# # You may obtain a copy of the License at
+# #
+# #     http://www.apache.org/licenses/LICENSE-2.0
+# #
+# # Unless required by applicable law or agreed to in writing, software
+# # distributed under the License is distributed on an "AS IS" BASIS,
+# # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# # See the License for the specific language governing permissions and
+# # limitations under the License.

caro_skills_flexbe_behaviors/bin/copy_behavior

@@ -1,35 +1,29 @@
 #!/usr/bin/env python
-# -*- coding: utf-8 -*-
-
-# Copyright 2023 David Conner
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
+# # Copyright 2026 Carologistics
+# #
+# # Licensed under the Apache License, Version 2.0 (the "License");
+# # you may not use this file except in compliance with the License.
+# # You may obtain a copy of the License at
+# #
+# #     http://www.apache.org/licenses/LICENSE-2.0
+# #
+# # Unless required by applicable law or agreed to in writing, software
+# # distributed under the License is distributed on an "AS IS" BASIS,
+# # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# # See the License for the specific language governing permissions and
+# # limitations under the License.
 ###########################################################
 #               WARNING: Generated code!                  #
 #              **************************                 #
 # Manual changes may get lost if file is generated again. #
 # Only code inside the [MANUAL] tags will be kept.        #
 ###########################################################
-
 """
 Define Example Action State Behavior.
 
 Created on July 21, 2023
 @author: David Conner
 """
-
-
 from flexbe_core import Autonomy
 from flexbe_core import Behavior
 from flexbe_core import ConcurrencyContainer
@@ -58,7 +52,7 @@ class ExampleActionStateBehaviorSM(Behavior):
 
     def __init__(self, node):
         super().__init__()
-        self.name = 'Example Action State Behavior'
+        self.name = "Example Action State Behavior"
 
         # parameters of this behavior
 
@@ -80,7 +74,7 @@ def __init__(self, node):
 
     def create(self):
         # x:1096 y:62, x:1095 y:363
-        _state_machine = OperatableStateMachine(outcomes=['finished', 'failed'])
+        _state_machine = OperatableStateMachine(outcomes=["finished", "failed"])
         _state_machine.userdata.angle_degrees = 90.0
 
         # Additional creation code can be added inside the following tags
@@ -89,44 +83,64 @@ def create(self):
         # [/MANUAL_CREATE]
         with _state_machine:
             # x:102 y:157
-            OperatableStateMachine.add('LogRequest',
-                                       LogKeyState(text="Request to rotate {} degrees", severity=2),
-                                       transitions={'done': 'Rotate Turtle State'},
-                                       autonomy={'done': Autonomy.Off},
-                                       remapping={'data': 'angle_degrees'})
+            OperatableStateMachine.add(
+                "LogRequest",
+                LogKeyState(text="Request to rotate {} degrees", severity=2),
+                transitions={"done": "Rotate Turtle State"},
+                autonomy={"done": Autonomy.Off},
+                remapping={"data": "angle_degrees"},
+            )
 
             # x:659 y:190
-            OperatableStateMachine.add('Log Failed',
-                                       LogState(text="Failed", severity=Logger.REPORT_WARN),
-                                       transitions={'done': 'failed'},
-                                       autonomy={'done': Autonomy.Off})
+            OperatableStateMachine.add(
+                "Log Failed",
+                LogState(text="Failed", severity=Logger.REPORT_WARN),
+                transitions={"done": "failed"},
+                autonomy={"done": Autonomy.Off},
+            )
 
             # x:658 y:57
-            OperatableStateMachine.add('Log Success',
-                                       LogState(text="Success", severity=Logger.REPORT_HINT),
-                                       transitions={'done': 'finished'},
-                                       autonomy={'done': Autonomy.Off})
+            OperatableStateMachine.add(
+                "Log Success",
+                LogState(text="Success", severity=Logger.REPORT_HINT),
+                transitions={"done": "finished"},
+                autonomy={"done": Autonomy.Off},
+            )
 
             # x:657 y:480
-            OperatableStateMachine.add('Log Timeout',
-                                       LogState(text="Timeout", severity=Logger.REPORT_WARN),
-                                       transitions={'done': 'failed'},
-                                       autonomy={'done': Autonomy.Off})
+            OperatableStateMachine.add(
+                "Log Timeout",
+                LogState(text="Timeout", severity=Logger.REPORT_WARN),
+                transitions={"done": "failed"},
+                autonomy={"done": Autonomy.Off},
+            )
 
             # x:244 y:294
-            OperatableStateMachine.add('Rotate Turtle State',
-                                       RotateTurtleState(timeout=10, action_topic="/turtle1/rotate_absolute"),
-                                       transitions={'rotation_complete': 'Log Success', 'failed': 'Log Failed',
-                                                    'canceled': 'Log Canceled', 'timeout': 'Log Timeout'},
-                                       autonomy={'rotation_complete': Autonomy.Off, 'failed': Autonomy.Off,
-                                                 'canceled': Autonomy.Off, 'timeout': Autonomy.Off},
-                                       remapping={'angle': 'angle_degrees', 'duration': 'duration'})
+            OperatableStateMachine.add(
+                "Rotate Turtle State",
+                RotateTurtleState(timeout=10, action_topic="/turtle1/rotate_absolute"),
+                transitions={
+                    "rotation_complete": "Log Success",
+                    "failed": "Log Failed",
+                    "canceled": "Log Canceled",
+                    "timeout": "Log Timeout",
+                },
+                autonomy={
+                    "rotation_complete": Autonomy.Off,
+                    "failed": Autonomy.Off,
+                    "canceled": Autonomy.Off,
+                    "timeout": Autonomy.Off,
+                },
+                remapping={"angle": "angle_degrees", "duration": "duration"},
+            )
 
             # x:656 y:337
-            OperatableStateMachine.add('Log Canceled',
-                                       LogState(text="Canceled", severity=Logger.REPORT_WARN),
-                                       transitions={'done': 'failed'},
-                                       autonomy={'done': Autonomy.Off})
+            OperatableStateMachine.add(
+                "Log Canceled",
+                LogState(text="Canceled", severity=Logger.REPORT_WARN),
+                transitions={"done": "failed"},
+                autonomy={"done": Autonomy.Off},
+            )
 
         return _state_machine