├── .gitignore
├── CMakeLists.txt
├── LICENSE
├── README.md
├── main.cpp
└── package.xml


/.gitignore:
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 1 | # Prerequisites
 2 | *.d
 3 | 
 4 | # Compiled Object files
 5 | *.slo
 6 | *.lo
 7 | *.o
 8 | *.obj
 9 | 
10 | # Precompiled Headers
11 | *.gch
12 | *.pch
13 | 
14 | # Compiled Dynamic libraries
15 | *.so
16 | *.dylib
17 | *.dll
18 | 
19 | # Fortran module files
20 | *.mod
21 | *.smod
22 | 
23 | # Compiled Static libraries
24 | *.lai
25 | *.la
26 | *.a
27 | *.lib
28 | 
29 | # Executables
30 | *.exe
31 | *.out
32 | *.app
33 | 


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/CMakeLists.txt:
--------------------------------------------------------------------------------
 1 | cmake_minimum_required(VERSION 3.5)
 2 | 
 3 | project(btcpp_sample LANGUAGES CXX)
 4 | 
 5 | set(CMAKE_CXX_STANDARD 17)
 6 | set(CMAKE_CXX_STANDARD_REQUIRED ON)
 7 | 
 8 | add_executable(btcpp_sample main.cpp)
 9 | 
10 | find_package(ament_cmake QUIET)
11 | 
12 | if(ament_cmake_FOUND)
13 | 
14 |     find_package(behaviortree_cpp REQUIRED)
15 |     ament_target_dependencies(btcpp_sample behaviortree_cpp)
16 | 
17 | elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
18 | 
19 |     find_package(catkin REQUIRED COMPONENTS behaviortree_cpp)
20 |     catkin_package(CATKIN_DEPENDS behaviortree_cpp)
21 |     target_include_directories(btcpp_sample PRIVATE ${catkin_INCLUDE_DIRS})
22 |     target_link_libraries(btcpp_sample ${catkin_LIBRARIES})
23 | 
24 | else()
25 | 
26 |     find_package(behaviortree_cpp REQUIRED)
27 |     target_link_libraries(btcpp_sample BT::behaviortree_cpp)
28 | 
29 | endif()
30 | 
31 | 


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/LICENSE:
--------------------------------------------------------------------------------
 1 | MIT License
 2 | 
 3 | Copyright (c) 2023 BehaviorTree
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | # Sample BehaviorTree.CPP project
2 | 
3 | This project is compatible with version 4.X of [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP).
4 | 
5 | The **CMakeLists.txt** and **package.xml** files are compatible with both ROS and ROS2.
6 | 


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/main.cpp:
--------------------------------------------------------------------------------
 1 | #include "behaviortree_cpp/bt_factory.h"
 2 | 
 3 | using namespace BT;
 4 | 
 5 | // clang-format off
 6 | static const char* xml_text = R"(
 7 | 
 8 |  <root BTCPP_format="4" >
 9 | 
10 |      <BehaviorTree ID="MainTree">
11 |         <Sequence name="root">
12 |             <AlwaysSuccess/>
13 |             <SaySomething   message="this works too" />
14 |             <ThinkWhatToSay text="{the_answer}"/>
15 |             <SaySomething   message="{the_answer}" />
16 |         </Sequence>
17 |      </BehaviorTree>
18 | 
19 |  </root>
20 |  )";
21 | // clang-format on
22 | 
23 | class SaySomething : public BT::SyncActionNode
24 | {
25 |   public:
26 |   SaySomething(const std::string& name, const BT::NodeConfig& config) :
27 |         BT::SyncActionNode(name, config)
28 |   {}
29 | 
30 |   BT::NodeStatus tick() override
31 |   {
32 |     std::string msg;
33 |     getInput("message", msg);
34 |     std::cout << msg << std::endl;
35 |     return BT::NodeStatus::SUCCESS;
36 |   }
37 | 
38 |   static BT::PortsList providedPorts()
39 |   {
40 |     return {BT::InputPort<std::string>("message")};
41 |   }
42 | };
43 | 
44 | class ThinkWhatToSay : public BT::SyncActionNode
45 | {
46 |   public:
47 |   ThinkWhatToSay(const std::string& name, const BT::NodeConfig& config) :
48 |         BT::SyncActionNode(name, config)
49 |   {}
50 | 
51 |   BT::NodeStatus tick() override
52 |   {
53 |     setOutput("text", "The answer is 42");
54 |     return BT::NodeStatus::SUCCESS;
55 |   }
56 | 
57 |   static BT::PortsList providedPorts()
58 |   {
59 |     return {BT::OutputPort<std::string>("text")};
60 |   }
61 | };
62 | 
63 | int main()
64 | {
65 | 
66 |   BehaviorTreeFactory factory;
67 | 
68 |   factory.registerNodeType<SaySomething>("SaySomething");
69 |   factory.registerNodeType<ThinkWhatToSay>("ThinkWhatToSay");
70 | 
71 |   auto tree = factory.createTreeFromText(xml_text);
72 | 
73 |   tree.tickWhileRunning();
74 | 
75 |   return 0;
76 | }
77 | 


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/package.xml:
--------------------------------------------------------------------------------
 1 | <package format="3">
 2 |   <name>btcpp_sample</name>
 3 |   <version>0.1.0</version>
 4 |   <description>Dummy project to check compiling</description>
 5 | 
 6 |   <maintainer email="davide.faconti@gmail.com">Davide Faconti</maintainer>
 7 |   <license>MIT</license>
 8 |   <author>Davide Faconti</author>
 9 | 
10 |   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
11 |   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
12 | 
13 |   <depend>rclcpp</depend>
14 |   <depend>behaviortree_cpp</depend>
15 | 
16 |   <export>
17 |     <build_type condition="$ROS_VERSION == 1">catkin</build_type>
18 |     <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
19 |   </export>
20 | 
21 | </package>
22 | 


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