The py_trees_ros from splintered-reality

Dashboard doesn't shutdown via the gui

Doesn't shutdown when the gui 'x' is clicked.

Mocks and Full Mock Tree

Mock Layer, #13
Cover py_trees_ros as much as possible
Simple gui plugin for interactions
Dynamic reconfigure for configuration
Rqt Py Trees for viewing
Run it as a full integration test

ActionClient Behavior is not silent

When running an Behavior of type ActionClient it always prints the goal that was send because of this line:
https://github.com/stonier/py_trees_ros/blob/release/0.5-kinetic/py_trees_ros/actions.py#L92

To me, it would be desirable to disable this print out. I pollutes my console a bit.

If you agree, I could provide a pull request with a fix. I'd use a call such as self.logger.debug("{}".format(self.action_goal)). Also, to which branch would you like to receive such a pull request?

Switch to multi-node once launch can handle it

Presently, launch node name renaming is not possible via ros2 launch, so this enforces the decision to bundle everything into one node.

PROS:

It's simpler

CONS:

Constraints how the application writer might wish to execute (spin) the different parts of the system.
Have to use the ugly **kwargs hack in setup

I'd like to revert to having behaviours take in node_name and namespace on init and construct their nodes themselves (supposing the overhead of nodes isn't large itself).

[subscribers] force the user to provide a qos profile

Given that it is so much more critical in ROS2 than ROS1, it is probably worth forcing the user to think about it.

Standard output/error for launchers not showing

Reproduce:

shell one $ ros2 launch py_trees_ros mock-robot.launch.py
shell two $ ros2 topic pub /led_strip/command std_msgs/String "data: 'blue'"
shell one $ ctrl-c

Workarounds:

Standard Output: consume it after ctrl-c
Standard Error: launch everything manually with ros2 run

Napolean

http://sphinxcontrib-napoleon.readthedocs.io/en/latest/example_google.html

Tutorials on RTD

Should be feasible to put them there as you should not need all the dependencies to build docs.

Use a doc-requirements.txt and point rtd at that for installing sphinx and other sphinx modules.
Use autodoc_mock_imports for any imports that aren't available at build time

Intersphinx mappings

Get the ros package to link to core package references.

Melodic release

@naveedhd @stonier

py_trees is released for melodic but py_trees_ros, py_trees_msgs and rqt_py_trees are not.

I tried to create a workspace with these four and rosdep failed to find the python-termcolor package. This definition was added and now it resolves correctly. Packages compile but I have not run any tests.

I was wondering what is the roadmap for these packages to be released in melodic. We could do a checklist and split resources 😄

ROS2 Action Clients

Action Client Behaviour

basic behaviour, #83
handle rejections on acceptance, #84
handle result failures, #84

Tests

mock action server, #83
goal acceptance, #83
goal rejection, #84
execution to success, #83
execution to failure, #84
~~pre-eemption~~ (no need, the behaviour is not designed to preempt, just send and cancel)
cancelling, #83

Use PEP420 namespace packages

This would reconfigure this package into the more natural py_trees.ros.* namespace.

Mocking

Blackboard watcher publishers spawn without end

Currently have the appropriate (?) node.destroy_publisher() call in BlackboardView.shutdown() commented out which induces the spawning without end of blackboard publishers.

If I don't have it commented though, subsequent executions of the blackboard watcher frequently create a subscriber that fails to have it's callbacks triggered. Note: frequently, not all the time.

The very first watcher connection always works
A separate echo of the topic always works
Sleeps/spins between opening the connection and creating the subscription does naught

Tested against rclpy 0.6.4 (crystal).

OSRF Packages

py_trees
py_trees_msgs
py_trees_ros
rqt_py_trees

Gazebo Demo

Simple kobuki gazebo demo just for demonstration that it works with a robot. Doesn't need to be as complex as the mock.

Documentation Redux

re-sphinx → #80
port for ros2 → #80
documentation for py-trees-tree-watcher → #81
automate on ~~ROS2 build farm~~, or read the docs → #81, #82

ROS2 - Mock Robot Components

Mock

Turtlebot Gazebo Tutorial

Error when running the tutorials installed from the ROS repo

When installing the py_trees suite from the ROS repo and going through the tutorials I get the error:

ERROR: cannot launch node of type [py_trees_ros/mock_safety_sensors]: can't locate node [mock_safety_sensors] in package [py_trees_ros]

Fixed by #25 . Until pushed to the ROS repo the script can be manually put in:

/opt/ros/kinetic/lib/py_trees_ros

and give it execution permission

Kinetic apt package versions do not match

When ros-kinetic-py-trees-ros is installed through apt on Ubuntu 16.04 with ROS kinetic, the installed versions of py-trees and py-trees-ros do not match. py-trees is v0.5.10 and py-trees-ros is v0.5.17. This leads to decorators being unavailable in py-trees (They seem to have been added on 0.5.11?).

Everything just throws 'module' object has no attribute 'decorators' from py_trees_ros/conversions.py line 49. The line is: elif isinstance(behaviour, py_trees.decorators.Decorator):.

I checked the install directory and indeed the file decorators does not exist.

Action client pattern

Such a common pattern for ROS behaviours.

Previous discussion in py_trees#18

Subscribers.ToBlackboard initialised with rosmsg()?

Is there a way to feed the initialise_variables with the rosmsg instance?

for example:


pose_to_blackboard = ToBlackboard(topic_name="pose",
                                                 topic_type=geometry_msgs.msg.Pose,
                                                 blackboard_variables = {'pose': None},
                                                 initialise_variables=geometry_msgs.msg.Pose()
                                                 )

As I understand, we can supply a python dict which means initializing with dummy data would require rosmsg -> python dict conversion.

Behaviour Index

A page dedicated to just list up all the behaviours available in this package.

Should be in the 'reference' group
Should just be a link and synopsis to documentation in the module api

Resolve kinetic-melodic branches

Really ought to have put them on the same release/0.5.x branch back when. They now seem to have gotten out of sync (I'd stopped working on kinetic, but turns out there are quite a few users still).

[melodic] py_trees_ros broken after last binary update

After updating last binary package in melodic (0.5.16-0bionic.20190204.215333), py_trees_ros seems broken. All my applications give me the same error: AttributeError: 'module' object has no attribute 'decorators'

Even the first tutorial, here is the console output:

Traceback (most recent call last):
File "/opt/ros/melodic/lib/py_trees_ros/tutorial_tree", line 44, in
main_itself()
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees_ros/tutorials/one.py", line 139, in main
behaviour_tree.tick_tock(500)
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees/trees.py", line 259, in tick_tock
self.tick(pre_tick_handler, post_tick_handler)
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees/trees.py", line 233, in tick
node.visit(visitor)
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees/behaviour.py", line 220, in visit
visitor.run(self)
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees_ros/visitors.py", line 108, in run
self.tree.behaviours.append(conversions.behaviour_to_msg(behaviour))
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees_ros/conversions.py", line 122, in behaviour_to_msg
msg.type = behaviour_type_to_msg_constant(behaviour)
File "/opt/ros/melodic/lib/python2.7/dist-packages/py_trees_ros/conversions.py", line 49, in behaviour_type_to_msg_constant
elif isinstance(behaviour, py_trees.decorators.Decorator):
AttributeError: 'module' object has no attribute 'decorators'
[tree-10] process has died [pid 23311, exit code 1, cmd /opt/ros/melodic/lib/py_trees_ros/tutorial_tree one __name:=tree __log:=/home/**/.ros/log/6fd2029c-2f8c-11e9-949f-f0d5bfb298e1/tree-10.log].

Error when using py-trees-blackboard-watcher

I installed the py_trees suit from the ROS repository and when performing the tutorial 3 I get this error when executing any of the py-trees-blackboard-watcher related commands.

$ py-trees-blackboard-watcher --list-variables
Traceback (most recent call last):
  File "/opt/ros/kinetic/bin/py-trees-blackboard-watcher", line 23, in <module>
    py_trees_ros.programs.blackboard_watcher.main()
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/py_trees_ros/programs/blackboard_watcher.py", line 222, in main
    handle_args(args)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/py_trees_ros/programs/blackboard_watcher.py", line 167, in handle_args
    list_variables_service_name = find_service(args.namespace, 'py_trees_msgs/GetBlackboardVariables')
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/py_trees_ros/programs/blackboard_watcher.py", line 142, in find_service
    service_name = rosservice.rosservice_find(service_type)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 325, in rosservice_find
    t = get_service_type(s)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 147, in get_service_type
    return get_service_headers(service_name, service_uri).get('type', None)
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rosservice/__init__.py", line 126, in get_service_headers
    raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service_name, service_uri))
rosservice.ROSServiceIOException: Unable to communicate with service [/rqt_gui_py_node_26372/get_loggers], address [rosrpc://spaghetti-monster-machine:42717]

The spaguetti-monster-machine is a fictional machine name that tries to boost performance by using the same sense of humor 😃

catkin_make showing error

I try to install the py_trees_ros package and when I catkin_make it, it is showng error.
it is telling pytree ros is a non catkin package.
how can I use this package in ros melodic ??

Flesh out Introduction and FAQ

Both are currently stubs.

introduction
faq

Timer not working inside a Selector after a failing action client behavior

Hi,
Still pretty new to py_trees, I am experimenting with ROS and I don't understand why Timers are not working after a failing action inside a selector. But are working after other type of failing behavior.
I have reproduced the problem with a modified version tutorial 5.

Below inside a selector with an always failing behavior, it is working as expected:

But with an always failing action client behavior, the timer is not working as expected:

Here is the modifed tutorial 5 code:

def create_root():
    # behaviours
    root = py_trees.composites.Parallel("Tutorial")
    topics2bb = py_trees.composites.Sequence("Topics2BB")
    scan2bb = py_trees_ros.subscribers.EventToBlackboard(
        name="Scan2BB",
        topic_name="/dashboard/scan",
        variable_name="event_scan_button"
    )
    battery2bb = py_trees_ros.battery.ToBlackboard(name="Battery2BB",
                                                   topic_name="/battery/state",
                                                   threshold=30.0
                                                   )
    priorities = py_trees.composites.Selector("Priorities")
    battery_check = py_trees.meta.success_is_failure(py_trees.composites.Selector)(name="Battery Emergency")
    is_battery_ok = py_trees.blackboard.CheckBlackboardVariable(
        name="Battery Ok?",
        variable_name='battery_low_warning',
        expected_value=False
    )
    flash_led_strip = py_trees_ros.tutorials.behaviours.FlashLedStrip(
        name="Flash Red",
        colour="red")

    scan = py_trees.composites.Sequence(name="Scan")
    is_scan_requested = py_trees.blackboard.CheckBlackboardVariable(
        name="Scan?",
        variable_name='event_scan_button',
        expected_value=True
    )
    scan_preempt = py_trees.composites.Selector(name="Preempt?")
    is_scan_requested_two = py_trees.meta.success_is_running(py_trees.blackboard.CheckBlackboardVariable)(
        name="Scan?",
        variable_name='event_scan_button',
        expected_value=True
    )
    scanning = py_trees.composites.Parallel(name="Scanning", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
    test_timer = py_trees.composites.Selector("Test Timer")
    wait_5_secs =  py_trees.timers.Timer(name="Wait5secs", duration=5.0)
    wait_5_secs2 =  py_trees.timers.Timer(name="Wait5secs2", duration=5.0)

    #make the action client return failure for tests
    scan_rotate = py_trees.meta.success_is_failure(py_trees_ros.actions.ActionClient)(
        name="Rotate (always failing)",
        action_namespace="/rotate",
        action_spec=py_trees_msgs.RotateAction,
        action_goal=py_trees_msgs.RotateGoal(),
        override_feedback_message_on_running="rotating"
    )

    #failing behavior for alternative test
    failure = py_trees.behaviours.Failure(name="Failing behavior (not action)")

    scan_flash_blue = py_trees_ros.tutorials.behaviours.FlashLedStrip(name="Flash Blue", colour="blue")
    scan_celebrate = py_trees.composites.Parallel(name="Celebrate", policy=py_trees.common.ParallelPolicy.SUCCESS_ON_ONE)
    scan_flash_green = py_trees_ros.tutorials.behaviours.FlashLedStrip(name="Flash Green", colour="green")
    scan_pause = py_trees.timers.Timer("Pause", duration=3.0)
    idle = py_trees.behaviours.Running(name="Idle")

    # tree
    root.add_children([topics2bb, priorities])
    topics2bb.add_children([scan2bb, battery2bb])
    priorities.add_children([battery_check, scan, idle])
    battery_check.add_children([is_battery_ok, flash_led_strip])
    scan.add_children([is_scan_requested, scan_preempt, scan_celebrate])
    scan_preempt.add_children([is_scan_requested_two, scanning])
    scanning.add_children([test_timer, scan_flash_blue])
    #With failing action, timer is not working
    test_timer.add_children([scan_rotate,wait_5_secs,wait_5_secs2])
    #Without action, working timer:
    #test_timer.add_children([failure,wait_5_secs,wait_5_secs2])
    scan_celebrate.add_children([scan_flash_green, scan_pause])
    return root

Continuous Integration

Might be useful to put the devel branch under CircleCI, depending on how clever the build farm hooks are.

Ostensibly, I'd like to be able to trigger the build on a PR for any of the py_trees_ros* repositories alongside devel or an equivalently named PR branch for py_trees, py_trees_ros_interfaces, py_trees_ros and py_trees_ros_tutorials.

Old post about caching apt-get on CircleCI here
Rolling Images for CircleCI - the recommended way for CircleCI 2.0
Adding SSH Key to a project so it can clone other projects - Forum Question, Circle CI Docs
Use the OSRF/ros2 docker container
- Note that you can't force it to cache parts, it will try to automate that to some extent itself, see here

Subscriber tick tock test broken

06:59:37 [ROSTEST]-----------------------------------------------------------------------
06:59:37 
06:59:37 [py_trees_ros.rosunit-test_subscriber_check/test_tick_tock][ERROR]--------------
06:59:37 unorderable types: Status() < int()
06:59:37   File "/usr/lib/python2.7/unittest/case.py", line 329, in run
06:59:37     testMethod()
06:59:37   File "/tmp/catkin_workspace/src/py_trees_ros/tests/rostests/subscriber_check/test_subscriber_check.py", line 101, in test_tick_tock
06:59:37     self.runner.tick_tock(number_of_iterations=50)
06:59:37   File "/tmp/catkin_workspace/src/py_trees_ros/tests/rostests/subscriber_check/test_subscriber_check.py", line 72, in tick_tock
06:59:37     while not rospy.is_shutdown() and self.root.status < number_of_iterations:
06:59:37   File "/usr/lib/python2.7/dist-packages/enum/__init__.py", line 719, in __lt__
06:59:37     raise TypeError("unorderable types: %s() < %s()" % (self.__class__.__name__, other.__class__.__name__))

Launch files not installing with symlinks

Reproduce:

Note, package.xml is symlinked, python files are not.

$ make all
$ ls -l install/py_trees_ros/share/py_trees_ros
$ ls -l install/py_trees_ros/share/py_trees_ros/launch

Workaround:

manually build after every modification to a launch/<name>.launch.py file

Linting

flake, pep257, copyright tests (see demo_nodes_py)

ROS Wiki Docs Broken

Half the tutorials are just plain absent.

Behaviour Tree MVP

Goals

Given the clunkiness with formatting, unicode, latching .... consolidate the ros2 comms into a single non-text snapshot message
Decode the message with a client watcher that can usefully display all the things
Decide how to best interleave a tick with rclpy and design api to encourage that
Proof of life on a tutorial and a muppet

Messages

create statistics msg → splintered-reality/py_trees_ros_interfaces#2

BehaviourTree

Watcher

deserialise snapshot message → #70
draw ascii tree snapshot → #70
draw ascii tree oneshot → #70
add statistics to snapshot → #70
add tip to snapshot → splintered-reality/py_trees#180
render dot graph → #70

Behaviours

Port subscriber to blackboard related behaviours → #73
Subscriber behaviours under test → #76
Port battery behaviours → #73
Battery behaviour under test → #75

Proof of Life

tutorial one - battery subscription with statistics → splintered-reality/py_trees_ros_tutorials#14, splintered-reality/py_trees_ros_tutorials#15
muppet launcher demonstration - on a robot with battery subscriber (tutorial one with battery_state instead of battery/state)

Out of Scope

logging

ROS2 Improvements

That matter...

See also the question list at snorriheim.atlassian.net/rclpy

Support resolved_name in rclpy classes, remove py_trees_ros workarounds
Support oneshot timers in rclpy classes (ros2/rclpy#186 (comment))
Proper string formatting in ros2 topic echo (ros2/ros2cli#154)

services.py?

@stonier Would it be a good idea to have services.py similar to actions.py? could be good as a reference.

Service client behaviour

A common pattern is to shoot off a service request. Probably need to handle:

Type
Service Name
Request (either pass in the constructor or point to a blackboard variable)
Functional callback for the response (pass in the constructor)

[watchers] serialised tip problem

Tip showing at 'Ere we go' instead of 'Pause'

[||] Tutorial Seven [*]
    [-] Topics2BB [o]
        --> Scan2BB [o]
        --> Cancel2BB [o]
        --> Battery2BB [o] -- Battery level is ok
    [o] Tasks [*]
        -^- Battery Low? [x]
            --> Flash Red
        [-] Scan [*]
            --> Scan?
            [o] Scan or Die [*]
                [-] Ere we Go [*]
                    --> UnDock
                    [o] Scan or Be Cancelled
                        [-] Cancelling?
                            --> Cancel?
                            --> Move Home
                            --> Result2BB 'cancelled'
                        [-] Move Out and Scan
                            --> Move Out
                            [||] Scanning
                                --> Context Switch
                                --> Rotate
                                --> Flash Blue
                            --> Move Home
                            --> Result2BB 'succeeded'
                    --> Dock [o] -- successfully completed
                    [||] Celebrate [*]
                        --> Flash Green [*] -- flashing green
                        --> Pause [*] -- still running
                [-] Die
                    [||] Notification
                        --> Flash Red
                        --> Pause
                    --> Result2BB 'failed'
            --> Send Result
        --> Idle

How to construct nodes?

Right now, I'm adopting the following convention:

node_name and namespace in via __init__()
rclpy.create_node(node_name=..., namespace=..., ...) in setup()

There is a constraint to this though - it assumes that all behaviour nodes run off the default context. Is there ever a situation in which someone would want to specify the context as well?

If so, then we'd need to pass in the node itself via setup(). This would require py_trees change to setup() so that it could take in an arbitrary dictionary of arguments that behaviours could cherrypick from.

Mock Robot Tutorials

Ros Behaviour Tree

[actions.py] get_result().message

update() in ActionServer has an assumption that result will have message field on preemption py_trees_ros/actions.py#99. This will crash with any action, such as move_base not having result with mesage field.

This ofcourse can be solved by subclassing the update() but it would be better to not having to.

Rclpy Question List

Where does the node name come from (i.e. returned from node.get_node_names())?

This is the argument passed in when creating a node (rclpy.node.Node('exchange')).

How to append publisher name to the node name (i.e. ~ from rospy)?

broken with viewer on tree changes (insert/prune)

This issue may be root caused and end up at py_trees_ros_js instead.

Whatever the case, the snapshot message looks like it is being populated in a way that causes the timeline on the viewer to be broken.

running_is_success -> ToBlackboard

G'day.

Would it be a good idea to have a subscriber behaviour which returns success instead of running whether a message is received or not. I use meta.running_is_success to deal with non-frequent topics.

I checked the subscribers.Event does similar to intended case but it takes std_msgs.Empty. One way of it would be to make it more general.

What are your thoughts on this @stonier

ROS2 task list

Get the fundamentals up and running:

Infra

install ros2 master version and build against that
Package specific executables → PR #45
Shebangs and encodings → PR #47
LICENSE -> splintered-reality → PR #66

PyTrees ROS

Exchange → PR #45
Exchange updates for 1.0 (node usage, count) → PR #66
Exchange tests → PR #66
Blackboard Watchers → PR #45
Exchange/Blackboard Watcher unit test / ~~system test~~ → PR #66
An MVP ROS2 behaviour tree and test → #26
ROS2 behaviour tree watcher (or better ros2 string formatting)

3rd Party

unique_identifier_msgs: dependency for colcon

[Tutorial 1] Formating issue

Hello,
I am completely new at py_tree_ros and I just started following the tutorials. I am under Melodic and when executing the first tutorial, the output of rostopic echo /tree/blackboard seems badly formatted:

data: "\e[32mBlackboard\n\e[0m\e[36m  battery             \e[0m:\n\e[33m    header: \n\e\
  [0m\e[33m      seq: 12173\n\e[0m\e[33m      stamp: \n\e[0m\e[33m        secs: 1546607831\n\
  \e[0m\e[33m        nsecs: 515712022\n\e[0m\e[33m      frame_id: ''\n\e[0m\e[33m\
  \    voltage: nan\n\e[0m\e[33m    current: nan\n\e[0m\e[33m    charge: nan\n\e[0m\e\
  [33m    capacity: nan\n\e[0m\e[33m    design_capacity: nan\n\e[0m\e[33m    percentage:\
  \ 0.0\n\e[0m\e[33m    power_supply_status: 2\n\e[0m\e[33m    power_supply_health:\
  \ 1\n\e[0m\e[33m    power_supply_technology: 2\n\e[0m\e[33m    present: True\n\e\
  [0m\e[33m    cell_voltage: []\n\e[0m\e[33m    location: ''\n\e[0m\e[33m    serial_number:\
  \ ''\n\e[0m\e[36m  battery_low_warning \e[0m: \e[33mTrue\n\e[0m\e[0m"

Additionally I had to pip install pygraphviz and in order to start the first tutorial.

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