foxy support

[mnumanuyar]

in README.md it says this is supported after galactic. I assume there is no planned support for foxy, I am just curious what is the main reason for this

[mnumanuyar]

fyi this docker builds:

# syntax=docker/dockerfile:1

# git clone --recursive --shallow-submodules --depth 1 git@github.com:BehaviorTree/BehaviorTree.CPP.git
# git clone --recursive --shallow-submodules --depth 1 -b humble git@github.com:BehaviorTree/BehaviorTree.ROS2.git

FROM osrf/ros:foxy-desktop
COPY BehaviorTree.CPP /BehaviorTree.CPP
WORKDIR /BehaviorTree.CPP
RUN apt-get update &&\
    apt-get -y --quiet --no-install-recommends install \
    libzmq3-dev && \
    apt-get -y autoremove && \
    apt-get clean autoclean && \
    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* && \
    rosdep install -r --from-paths . -y #&& \
    mkdir build && \
    cd build && \
    cmake .. && \
    make && \
    make install
COPY BehaviorTree.ROS2 /BehaviorTree.ROS2
WORKDIR /BehaviorTree.ROS2
RUN apt-get update &&\
    apt-get -y --quiet --no-install-recommends install \
    libzmq3-dev && \
    apt-get -y autoremove && \
    apt-get clean autoclean && \
    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/* && \
    rosdep install -r --from-paths . -y #&& \
    mkdir build && \
    cd build && \
    cmake .. && \
    make && \
    make install

# generate image with: docker build -f bt_cpp.Dockerfile -t bt .

[mnumanuyar]

there was a typo at rosdep install -r --from-paths . -y #&& \ where # caused make steps to be skipped. so above docker does not build.

Still I am curious about the reason of foxy not being supported.

trying colcon build give errors related to rosidl_get_typesupport_target so maybe it is about that, I will look to it but any info is also appriciated

[facontidavide]

The main reason is that I am using callback groups and Foxy doesn't have some functionalities implemented.

I guess it COULD be possible to have a working Foxy branch, with some work

[mnumanuyar]

I will work on docker for now to try it out, if everything (projects i work on) works I will probably migrate. if not, i might try things and if so, report them here.

[MatteoAlbi]

I'm currently trying to readapt this library to ros2foxy, and personally I find it quite straigthforward. About this: I'd like to ask few questions:

• In the library wrappers, the executor used is always single-threaded, with one mutually-exclusive callback group, thus why it is implemented using ros galactic? It seems to me that a foxy executor would work in this case.
• In bt_service_node.hpp, in the tick method, why at start spin_some is called? Maybe to receive messages from possible subscribers? But why at the end RUNNING is returned? In which cases is if (status() == BT::NodeStatus::RUNNING) skipped?

[jayv]

With both galactic and foxy EOL, have folks explored running on ROS2 Humble (LTS) and if not possible, where is this on the roadmap @facontidavide ?

[mnumanuyar]

@jayv If i understand correctly, you are asking for humble support. in readme.md it says bt is compatible only with galactic or older, which includes humble. Also I tried with humble (in a docker) and everything works.

Edit: oh wait galactic and older does not include humble, but in that case it is probably a typo. @facontidavide is that true?

[facontidavide]

yes, this repo will support ONLY Humble or older.

I m not maintaining any End Of Life version.

[mnumanuyar]

@facontidavide I think a clarification is needed (or it might be my bad english)

In my previous comment when i say typo I meant usage of "older" is wrong and "newer" should be used instead.

when we say humble and older, i understand humble and all previous ros2 distrubutions (humble, galactic, foxy ...) and no support for newer version (iron, rolling) which contradicts with what you say about end of life versions.

I think in readme it should either say "Humble or newer", which would include Humble, Iron, rolling and updated as EoL moves

or

It should say "only supports Humble or older except End of life versions" which only includes Humble (so maybe just say only supports Humble?).

Assuming Humble or newer is supported, since foxy is now in EoL, something like "all non-EoL ROS 2 versions are supported" (or whatever the correct term for non EoL) can be used in readme.

[facontidavide]

It was my fault. Of course it is "newer"

[marip8]

FWIW, I'm supporting an application with this repo in Foxy and Humble, and I have a branch based on d4da1c (humble branch head as of today) that works in both distros with minimal changes