Subtree port remapping using Groot
Closed this issue · 1 comments
Bmoradi93 commented
I'm trying to do port remapping using Groot. I was not able to find instructions and documentation for that.
I have a sub-tree that is used in a main tree. The nema of the mapped ports in the sub-tree and main tree are identical.
I followed the BT general port remapping instructions in the documentation but did not help.
Here is my example tree designed by Groot:
<?xml version="1.0"?>
<root main_tree_to_execute="BehaviorTree">
<!-- ////////// -->
<BehaviorTree ID="BehaviorTree">
<Sequence>
<SubTree ID="ScanSubTree" __shared_blackboard="true" drone_id="drone_1"/>
<Action ID="ReturnToLaunch" drone_id="drone_1" flight_speed="1.0" obstacle_avoidance_required="false" rtk_fixed_required="false" smooth_path_required="true" use_global_planner="false" use_px4_rtl="false"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<BehaviorTree ID="ScanSubTree">
<Sequence>
<Action ID="Takeoff" drone_id="drone_0" target_altitude="4"/>
<Action ID="ScanGPSPoints" drone_id="drone_0" flight_env_id="field_1" flight_speed="1.0" mission_id="test.json" obstacle_avoidance_required="false" rtk_fixed_required="false" smooth_path_required="false" use_global_planner="false"/>
</Sequence>
</BehaviorTree>
<!-- ////////// -->
<TreeNodesModel>
<Action ID="AbortTakeoffAndLand"/>
<Action ID="AdjustGimbalAngle"/>
<Condition ID="AreAllSensorsOperational"/>
<Condition ID="AreDiagnosticsPassed"/>
<Condition ID="AreMotorsFunctional"/>
<Condition ID="AreSensorsFunctional"/>
<Action ID="ArmDrone"/>
<Action ID="Ascend"/>
<Condition ID="AtDestination"/>
<Action ID="AvoidObstacle"/>
<Condition ID="CanHover"/>
<Condition ID="CanPickupCargo"/>
<Action ID="CaptureImage">
<input_port default="F" name="camera_id"/>
<input_port default="drone_0" name="drone_id"/>
<input_port default="5" name="recording_frequency"/>
<input_port default="true" name="recording_status"/>
</Action>
<Condition ID="CargoDetected"/>
<Condition ID="CargoDropPointReached"/>
<Action ID="CheckBattery"/>
<Condition ID="DataTransmissionFailed"/>
<Condition ID="DataTransmissionSuccessful"/>
<Action ID="Descend"/>
<Action ID="DockAtStation"/>
<Action ID="FixateOnDrone">
<input_port default="false" name="activate_follow_target"/>
<input_port default="drone_0" name="drone_id"/>
<input_port default="drone_1" name="target_drone_id"/>
</Action>
<Condition ID="GimbalInPosition"/>
<Action ID="Hold"/>
<Condition ID="IsAMSLAltitudeAvailable"/>
<Condition ID="IsAltitudeIncreasingSteadily"/>
<Condition ID="IsAltitudeStagnantOrDecreasing"/>
<Condition ID="IsAreaClear"/>
<Condition ID="IsBatteryCritical"/>
<Condition ID="IsBatteryLow"/>
<Condition ID="IsBatterySufficient"/>
<Condition ID="IsCameraFunctional"/>
<Condition ID="IsCargoSecured"/>
<Condition ID="IsDockingStationAvailable"/>
<Condition ID="IsGPSLockAvailable"/>
<Condition ID="IsGimbalFunctional"/>
<Condition ID="IsImageCaptured"/>
<Condition ID="IsInAir"/>
<Condition ID="IsLanded"/>
<Condition ID="IsLandingAreaClear"/>
<Condition ID="IsMovingPlatformDetected"/>
<Condition ID="IsPointInsideOperationalBoundary"/>
<Condition ID="IsPointWithinSafeBoundary"/>
<Condition ID="IsRecording"/>
<Condition ID="IsSignalStrong"/>
<Condition ID="IsTakeoffAreaClear"/>
<Condition ID="IsTargetInSight"/>
<Condition ID="IsTerrainFollowable"/>
<Condition ID="IsZoomLimitReached"/>
<Action ID="Land">
<input_port default="drone_0" name="drone_id"/>
</Action>
<Action ID="LandOnMovingPlatform"/>
<Action ID="LockGimbal">
<input_port default="0.0" name="altitude"/>
<input_port default="drone_0" name="drone_id"/>
<input_port default="F" name="gimbal_id"/>
<input_port default="false" name="gimbal_locker_status"/>
<input_port default="0.0" name="latitude"/>
<input_port default="0.0" name="longitude"/>
</Action>
<Condition ID="LostTarget"/>
<Action ID="MoveBackward"/>
<Action ID="MoveForward"/>
<Action ID="MoveLeft"/>
<Action ID="MoveRight"/>
<Action ID="NavigateToPoint"/>
<Condition ID="ObstacleDetected"/>
<Condition ID="PathClear"/>
<Condition ID="PathObstructed"/>
<Condition ID="ReachedMaxAltitude"/>
<Condition ID="ReachedMinAltitude"/>
<Condition ID="ReachedTargetAltitude"/>
<Condition ID="ReceivedDataFromBase"/>
<Action ID="RecordBag">
<input_port default="rosbag" name="bag_name">the name of the recorded rosbag</input_port>
<input_port default="false" name="bag_recording_status">start or stop recording the roasbag</input_port>
<input_port default="300" name="duration_s">duration of record</input_port>
<input_port default="false" name="image_recording_status">includes or excludes image topics</input_port>
</Action>
<Action ID="RetreatFromThreat"/>
<Action ID="ReturnToLaunch">
<input_port default="drone_0" name="drone_id">drone namespace in ROS</input_port>
<input_port default="1.0" name="flight_speed">maximum horizontal flight speed.</input_port>
<input_port default="false" name="obstacle_avoidance_required"/>
<input_port default="false" name="rtk_fixed_required">Won't execute the RTL Action unless the gps status is rtk_fixed. Signinficant effect on the flight stability.</input_port>
<input_port default="true" name="smooth_path_required"/>
<input_port default="false" name="use_global_planner"/>
<input_port default="false" name="use_px4_rtl">if true, the U-shape PX4 RTL will be used to return the drone to its home position</input_port>
</Action>
<Action ID="SIYICaptureImages">
<input_port default="drone_0" name="drone_id"/>
<input_port default="10" name="number_of_photos"/>
</Action>
<Action ID="SIYIRecordVideo">
<input_port default="drone_0" name="drone_id"/>
<input_port default="false" name="recording_status"/>
</Action>
<Action ID="ScanComplete"/>
<Action ID="ScanGPSPoints">
<input_port default="drone_0" name="drone_id"/>
<input_port default="warren-field" name="flight_env_id"/>
<input_port default="1.0" name="flight_speed"/>
<input_port default="test.json" name="mission_id"/>
<input_port default="false" name="obstacle_avoidance_required"/>
<input_port default="false" name="rtk_fixed_required"/>
<input_port default="false" name="smooth_path_required"/>
<input_port default="false" name="use_global_planner"/>
</Action>
<Action ID="ScanOrbit">
<input_port default="drone_0" name="drone_id">this drone will perform the orbit scan</input_port>
<input_port default="1.0" name="flight_speed"/>
<input_port default="2.0" name="orbit_radius"/>
<input_port default="false" name="orbit_scan_state">if set to true, OrbitScan will be activated.</input_port>
<input_port default="0.0" name="target_gps_altitude"/>
<input_port default="0.0" name="target_gps_latitide"/>
<input_port default="0.0" name="target_gps_longitude"/>
</Action>
<SubTree ID="ScanSubTree">
<input_port default="true" name="__shared_blackboard">If false (default), the Subtree has an isolated blackboard and needs port remapping</input_port>
<input_port default="drone_0" name="drone_id">namespace of the drone in ROS</input_port>
</SubTree>
<Action ID="SendAlertToGroundControl"/>
<Action ID="SetGimbalAngles">
<input_port default="0.0" name="angle_pitch">from -90 to 20</input_port>
<input_port default="0.0" name="angle_roll"> No active</input_port>
<input_port default="0.0" name="angle_yaw">from -120 to 120</input_port>
<input_port default="drone_0" name="drone_id"/>
<input_port default="AirSim" name="gimbal_id">Real Drone: A8 || Simulation: AirSim</input_port>
</Action>
<Action ID="StartRecordingVideo"/>
<Action ID="StartScanning"/>
<Action ID="StopRecordingVideo"/>
<Action ID="StopScanning"/>
<Action ID="Takeoff">
<input_port default="drone_0" name="drone_id"/>
<input_port default="4" name="target_altitude"/>
</Action>
<Condition ID="ThreatDetected"/>
<Action ID="UpdateMap">
<input_port default="v.0" name="map_version">Changes the OBJ map version</input_port>
</Action>
<Action ID="YawLeft"/>
<Action ID="YawRight"/>
<Action ID="ZoomInCamera"/>
<Action ID="ZoomOutCamera"/>
<Action ID="start_recording_img">
<input_port default="F" name="camera_id">F: Front, D: Down, B: Back, T: ThermalCam, N: NightCam</input_port>
<input_port default="drone_0" name="drone_id"/>
<input_port default="2" name="recording_frequency"/>
</Action>
<Action ID="stop_recording_img">
<input_port default="F" name="camera_id"/>
<input_port default="drone_0" name="drone_id"/>
<input_port name="recording_frequency"/>
</Action>
</TreeNodesModel>
<!-- ////////// -->
</root>
drone_id is the port that I want to remap. in the main tree, If I set the drone_id=drone_1, it is not reflected in the sub-tree when executing the tree.
I'm using the latest version of BT.CPP in my docker container.
Aglargil commented
https://www.behaviortree.dev/docs/tutorial-advanced/tutorial_14_subtree_model
When the names of the entries in the SubTree and the parent tree are the same, you can use the attribute _autoremap.
For instance:
<SubTree ID="MoveRobot" target="{target}" frame="{frame}" result="{result}" />
Can be replaced by:
<SubTree ID="MoveRobot" _autoremap="true" />