.gitmodules

@@ -1,3 +1,3 @@
-[submodule "src/gz_ros2_control"]
+[submodule "src/Groot"]
-	path = src/gz_ros2_control
+	path = src/Groot
-	url = https://github.com/ros-controls/gz_ros2_control.git
+	url = https://github.com/BehaviorTree/Groot.git

build.sh

@@ -1,4 +1,4 @@
 #!/bin/bash
 pushd "$(dirname "$0")" || exit
-colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_BUILD_TYPE=Debug -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja
+colcon build --event-handlers console_cohesion+ --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -G Ninja
 popd || exit

src/btree/CMakeLists.txt

@@ -2,10 +2,11 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 project(btree)
 
 add_compile_options(-Wall -Wextra -Wpedantic)
-set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
+
+
 # find dependencies
 
 set(DEPENDENCIES
@@ -35,6 +36,7 @@ endforeach()
 
 set(CPP_FILES
         src/Tree.cpp
+        src/Extensions.cpp
         src/nodes/WeightedRandomNode.cpp
         src/nodes/GenerateXYPose.cpp
         src/nodes/RobotMove.cpp
@@ -47,9 +49,8 @@ set(CPP_FILES
         src/nodes/ActorAnimation.cpp
         src/nodes/ActorMovement.cpp
         )
+
 add_executable(tree ${CPP_FILES})
-SET_SOURCE_FILES_PROPERTIES(src/Extensions.hpp PROPERTIES COMPILE_FLAGS -O0)
-target_include_directories(tree PUBLIC /src /src/nodes)
 set_property(TARGET tree PROPERTY CXX_STANDARD 17)
 ament_target_dependencies(tree ${DEPENDENCIES})
 

src/btree/src/Extensions.cpp

@@ -1,14 +1,12 @@
 //
 // Created by bastian on 28.02.22.
 //
-#ifndef BUILD_EXTENSIONS_H
-#define BUILD_EXTENSIONS_H
 
 #include "Area.h"
 #include <geometry_msgs/msg/pose.hpp>
 
 namespace BT {
-    template<> inline
+    template<>
     std::shared_ptr<Position2D> convertFromString(StringView str) {
         auto split = splitString(str, ',');
         if (split.size() != 2) {
@@ -21,7 +19,7 @@ namespace BT {
         return pos;
     }
 
-    template<> inline
+    template<>
     std::shared_ptr<Area> convertFromString(StringView str) {
         auto parts = splitString(str, '|');
         if (parts.size() < 3) {
@@ -37,7 +35,7 @@ namespace BT {
         return output;
     }
 
-    template<> inline
+    template<>
     std::shared_ptr<geometry_msgs::msg::Pose> convertFromString(StringView str) {
         auto parts = splitString(str, ',');
         if (!(parts.size() == 3 || parts.size() == 7)) {
@@ -63,7 +61,7 @@ namespace BT {
         return pose;
     }
 
-    template<> inline
+    template<>
     std::shared_ptr<geometry_msgs::msg::Point> convertFromString(StringView str) {
         auto parts = splitString(str, ',');
         if (parts.size() != 3) {
@@ -78,7 +76,7 @@ namespace BT {
         return point;
     }
 
-    template<> inline
+    template<>
     std::shared_ptr<geometry_msgs::msg::Quaternion> convertFromString(StringView str) {
         auto parts = splitString(str, ',');
         if (parts.size() != 4) {
@@ -94,5 +92,3 @@ namespace BT {
         return point;
     }
 }
-
-#endif //BUILD_EXTENSIONS_H

src/btree/src/Tree.cpp

@@ -1,10 +1,7 @@
-#include "Extensions.hpp"
 #include "Area.h"
 #include <behaviortree_cpp_v3/basic_types.h>
 #include <behaviortree_cpp_v3/blackboard.h>
 #include <behaviortree_cpp_v3/bt_factory.h>
-#include <boost/exception/exception.hpp>
-#include <geometry_msgs/msg/detail/pose__struct.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <random>
@@ -23,14 +20,10 @@
 #include <chrono>
 #include <thread>
 
-using namespace BT;
-
 int main(int argc, char **argv) {
     rclcpp::init(argc, argv);
     rclcpp::NodeOptions node_options;
 
-    convertFromString<std::shared_ptr<geometry_msgs::msg::Pose>>("0,0,0");
-
     auto mainNode = rclcpp::Node::make_shared("tree_general_node", node_options);
     
     mainNode -> declare_parameter("trees",std::vector<std::string>({}));
@@ -58,12 +51,12 @@ int main(int argc, char **argv) {
     auto connection = std::make_shared<MoveConnection>(moveNode, "arm");
     executor.add_node(moveNode);
 
-    factory.registerBuilder<RobotMove>("RobotMove", [connection](const std::string &name, const NodeConfiguration &config) {
+    factory.registerBuilder<RobotMove>("RobotMove", [&connection](const std::string &name, const NodeConfiguration &config) {
-        return std::make_unique<RobotMove>(name, config, connection);
+        return std::make_unique<RobotMove>(name, config, &connection);
     });
 
-    factory.registerBuilder<SetRobotVelocity>("SetRobotVelocity", [connection](const std::string &name, const NodeConfiguration &config) {
+    factory.registerBuilder<SetRobotVelocity>("SetRobotVelocity", [&connection](const std::string &name, const NodeConfiguration &config) {
-        return std::make_unique<SetRobotVelocity>(name, config, connection);
+        return std::make_unique<SetRobotVelocity>(name, config, &connection);
     });
 
     

src/btree/src/nodes/ActorAnimation.cpp

@@ -18,7 +18,7 @@ BT::PortsList ActorAnimation::providedPorts() {
 }
 
 BT::NodeStatus ActorAnimation::onStart() {
-    std::cout << "started actor animation" << std::endl;
+    std::cout << "started animation" << std::endl;
 
     ros_actor_action_server_msgs::action::Animation::Goal goal;
 
@@ -37,10 +37,8 @@ BT::NodeStatus ActorAnimation::onStart() {
     send_goal_options.result_callback = [=](const ClientGoalHandle<Animation>::WrappedResult & parameter) {
         mutex.lock();
         if(parameter.code == ResultCode::SUCCEEDED){
-            std::cout << "finished actor animation" << std::endl;
             result = BT::NodeStatus::SUCCESS;
         }else{
-            std::cout << "failed actor animation" << std::endl;
             result = BT::NodeStatus::FAILURE;
         }
         mutex.unlock();
@@ -55,12 +53,14 @@ BT::NodeStatus ActorAnimation::onStart() {
 BT::NodeStatus ActorAnimation::onRunning() {
     mutex.lock();
     auto status = result;
+    if(result != BT::NodeStatus::RUNNING){
+        result = BT::NodeStatus::IDLE;
+    }
     mutex.unlock();
     return status;
 }
 
 void ActorAnimation::onHalted() {
-    std::cout << "halted actor animation" << std::endl;
+    std::cout << "halted animation" << std::endl;
     client->async_cancel_all_goals();
-    result = BT::NodeStatus::FAILURE;
 }

src/btree/src/nodes/ActorMovement.cpp

@@ -2,7 +2,6 @@
 // Created by bastian on 26.03.22.
 //
 
-#include "../Extensions.hpp"
 #include "ActorMovement.h"
 #include <action_msgs/msg/detail/goal_status__struct.hpp>
 #include <behaviortree_cpp_v3/basic_types.h>
@@ -23,7 +22,7 @@ BT::PortsList ActorMovement::providedPorts() {
 }
 
 BT::NodeStatus ActorMovement::onStart() {
-    std::cout << "started actor movement" << std::endl;
+    std::cout << "started moving" << std::endl;
 
     ros_actor_action_server_msgs::action::Movement::Goal goal;
 
@@ -52,10 +51,10 @@ BT::NodeStatus ActorMovement::onStart() {
     send_goal_options.result_callback = [&](ClientGoalHandle<Movement>::WrappedResult parameter) {
         mutex.lock();
         if(parameter.code == ResultCode::SUCCEEDED){
-            std::cout << "finished actor movement" << std::endl;
+            std::cout << "Success?" << std::endl;
             result = BT::NodeStatus::SUCCESS;
         }else{
-            std::cout << "failed actor movement" << std::endl;
+            std::cout << "Failure?" << std::endl;
             result = BT::NodeStatus::FAILURE;
         }
         mutex.unlock();
@@ -82,12 +81,15 @@ BT::NodeStatus ActorMovement::onStart() {
 BT::NodeStatus ActorMovement::onRunning() {
     mutex.lock();
     auto status = result;
+    if(result != BT::NodeStatus::RUNNING){
+        result = BT::NodeStatus::IDLE;
+    }
     mutex.unlock();
     return status;
 }
 
 void ActorMovement::onHalted() {
-    std::cout << "halted actor movement" << std::endl;
+    std::cout << "halted move" << std::endl;
     client->async_cancel_all_goals();
-    result = BT::NodeStatus::FAILURE;
+    result = BT::NodeStatus::IDLE;
 }

src/btree/src/nodes/GenerateXYPose.cpp

@@ -83,8 +83,7 @@ BT::NodeStatus BT::GenerateXYPose::tick() {
     randomPose->orientation.y = 0;
     randomPose->orientation.z = 0;
 
-    std::cout << "Generated Pose." << std::endl;
+    printf("Generated Target: %f %f\n", pos.x, pos.y);
-
     setOutput<std::shared_ptr<geometry_msgs::msg::Pose>>("pose", randomPose);
     return NodeStatus::SUCCESS;
 }

src/btree/src/nodes/InAreaTest.cpp

@@ -3,7 +3,6 @@
 //
 
 #include "InAreaTest.h"
-#include "../Extensions.hpp"
 
 BT::PortsList BT::InAreaTest::providedPorts() {
     return {

src/btree/src/nodes/InterruptableSequence.cpp

@@ -15,24 +15,23 @@ void BT::InterruptableSequence::halt() {
 BT::NodeStatus BT::InterruptableSequence::tick() {
     auto result = children_nodes_[position]->executeTick();
 
+    setStatus(NodeStatus::RUNNING);
+
     if(result==NodeStatus::FAILURE){
-        resetChildren();
+        haltChildren();
         position=0;
-        setStatus(NodeStatus::FAILURE);
         return NodeStatus::FAILURE;
     }
 
     if(result==NodeStatus::SUCCESS){
         position++;
         if(position>=children_nodes_.size()){
-            resetChildren();
+            haltChildren();
             position=0;
-            setStatus(NodeStatus::SUCCESS);
             return NodeStatus::SUCCESS;
         }
     }
 
-    setStatus(NodeStatus::RUNNING);
     return NodeStatus::RUNNING;
 }
 

src/btree/src/nodes/MoveConnection.cpp

@@ -11,19 +11,20 @@ void MoveConnection::planAndExecute(const std::shared_ptr<geometry_msgs::msg::Po
     std::cout<<"planAndExecute."<<std::endl;
     lock.lock();
     state = RUNNING;
+    std::cout<<"got lock."<<std::endl;
     lastTarget = pose;
     lastCallback = callback;
 
     moveGroup.setMaxVelocityScalingFactor(currentSpeed);
     moveGroup.setMaxAccelerationScalingFactor(1);
 
-    moveGroup.setPoseTarget(*lastTarget);
-    moveGroup.setGoalJointTolerance(0.01);
-    moveGroup.setGoalOrientationTolerance(0.01);
-
     std::cout<<"Starting planning"<<std::endl;
 
     std::thread([&](){
+        moveGroup.setPoseTarget(*lastTarget);
+        moveGroup.setGoalJointTolerance(0.01);
+        moveGroup.setGoalOrientationTolerance(0.01);
+
         std::cout<<"Parameters set."<<std::endl;
         
         auto finished = moveGroup.move() == moveit::core::MoveItErrorCode::SUCCESS;

src/btree/src/nodes/MoveConnection.h

@@ -12,7 +12,7 @@
 
 class MoveConnection {
 private:
-    enum {IDLE,RUNNING,SPEED_CHANGE} state = IDLE;
+    enum {IDLE,RUNNING,SPEED_CHANGE} state;
     moveit::planning_interface::MoveGroupInterface moveGroup;
     std::shared_ptr<geometry_msgs::msg::Pose> lastTarget = nullptr;
     std::function<void(bool)> lastCallback = [](__attribute__((unused))bool finished) {};

src/btree/src/nodes/OffsetPose.cpp

@@ -2,7 +2,6 @@
 // Created by bastian on 29.03.22.
 //
 
-#include "../Extensions.hpp"
 #include "OffsetPose.h"
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
 #include <memory>
@@ -24,7 +23,6 @@ BT::NodeStatus BT::OffsetPose::tick() {
     
     std::shared_ptr<geometry_msgs::msg::Pose> pose;
     if (!getInput("input", pose)) {
-        std::cout << "Missing {input} pose" << std::endl;
         return NodeStatus::FAILURE;
     }
     

src/btree/src/nodes/RobotMove.cpp

@@ -5,7 +5,7 @@
 #include "RobotMove.h"
 
 BT::RobotMove::RobotMove(const std::string &name, const BT::NodeConfiguration &config,
-                         std::shared_ptr<MoveConnection> connection)
+                         std::shared_ptr<MoveConnection> *connection)
         : StatefulActionNode(name, config) {
     this->connection = connection;
 }
@@ -20,7 +20,7 @@ BT::NodeStatus BT::RobotMove::onStart() {
     printf("X:%f Y:%f Z:%f\n",pose->position.x,pose->position.y,pose->position.z);
     printf("W:%f X:%f Y:%f Z:%f\n",pose->orientation.w,pose->orientation.x,pose->orientation.y,pose->orientation.z);
     asyncResult = NodeStatus::RUNNING;
-    connection->planAndExecute(pose,[this](bool finished){
+    connection->get()->planAndExecute(pose,[this](bool finished){
         if(finished){
             printf("Finished move.");
             asyncResult = NodeStatus::SUCCESS;
@@ -42,7 +42,7 @@ BT::NodeStatus BT::RobotMove::onRunning() {
 
 void BT::RobotMove::onHalted() {
     std::cout << "Halting RobotMove" << std::endl;
-    connection->stop();
+    connection->get()->stop();
     asyncResult=NodeStatus::FAILURE;
 }
 

src/btree/src/nodes/RobotMove.h

@@ -16,12 +16,12 @@ namespace BT {
 
     class RobotMove : public StatefulActionNode {
     private:
-        std::shared_ptr<MoveConnection> connection;
+        std::shared_ptr<MoveConnection> *connection;
         NodeStatus asyncResult = NodeStatus::FAILURE;
 
     public:
         RobotMove(const std::string &name, const BT::NodeConfiguration &config,
-                  std::shared_ptr<MoveConnection> connection);
+                  std::shared_ptr<MoveConnection> *connection);
 
         NodeStatus onStart() override;
 

src/btree/src/nodes/SetRobotVelocity.cpp

@@ -11,7 +11,7 @@ BT::NodeStatus BT::SetRobotVelocity::tick() {
         std::cout<<"No velocity given."<<std::endl;
         return NodeStatus::FAILURE;
     }
-    connection->setSpeedMultiplier(velocity);
+    connection->get()->setSpeedMultiplier(velocity);
     return NodeStatus::SUCCESS;
 }
 
@@ -21,7 +21,7 @@ BT::PortsList BT::SetRobotVelocity::providedPorts() {
     };
 }
 
-BT::SetRobotVelocity::SetRobotVelocity(const std::string &name, const BT::NodeConfiguration &config, std::shared_ptr<MoveConnection> connection) : SyncActionNode(
+BT::SetRobotVelocity::SetRobotVelocity(const std::string &name, const BT::NodeConfiguration &config, std::shared_ptr<MoveConnection> *connection) : SyncActionNode(
         name, config) {
     this->connection = connection;
 }

src/btree/src/nodes/SetRobotVelocity.h

@@ -11,11 +11,11 @@
 namespace BT {
     class SetRobotVelocity: public SyncActionNode {
     private:
-        std::shared_ptr<MoveConnection> connection;
+        std::shared_ptr<MoveConnection> *connection{};
 
     public:
         SetRobotVelocity(const std::string &name, const NodeConfiguration &config,
-                std::shared_ptr<MoveConnection> connection);
+                std::shared_ptr<MoveConnection> *connection);
 
         static PortsList providedPorts();
 

src/btree/src/nodes/WeightedRandomNode.cpp

@@ -16,7 +16,7 @@ void WeightedRandomNode::halt() {
 
 NodeStatus WeightedRandomNode::tick() {
     if (select_next) {
-        size_t children_count = children_nodes_.size();
+        const size_t children_count = children_nodes_.size();
 
         std::string weightString;
 
@@ -53,18 +53,14 @@ NodeStatus WeightedRandomNode::tick() {
         }
 
         selected_child_index = i;
-        
-        std::cout<< "Selected child:" << selected_child_index <<std::endl;
-        
         select_next = false;
     }
 
     TreeNode *current_child_node = children_nodes_[selected_child_index];
-    NodeStatus child_status = current_child_node->executeTick();
+    const NodeStatus child_status = current_child_node->executeTick();
 
     if (child_status != NodeStatus::RUNNING) {
         select_next = true;
-        resetChildren();
     }
 
     return child_status;

src/btree/trees/actorTreeCoex.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <root main_tree_to_execute="actorTree">
     <BehaviorTree ID="actorTree">
-        <WeightedRandom weights="95,5">
+        <Control ID="WeightedRandom" weights="95,5">
             <Sequence>
                 <SubTree ID="WorkOnBench"/>
                 <SubTree ID="DepositToShelf"/>
@@ -10,7 +10,7 @@
                 <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
                 <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="{actorTarget}"/>
             </Sequence>
-        </WeightedRandom>
+        </Control>
     </BehaviorTree>
     <BehaviorTree ID="DepositToShelf">
         <Sequence>

src/btree/trees/actorTreeColab.xml

@@ -8,11 +8,11 @@
                 </Inverter>
 
                 <Sequence>
-                    <WeightedRandom weights="100,5,2">
+                    <Control ID="WeightedRandom" weights="100,5,2">
                         <Action ID="GenerateXYPose" area="{safeArea}" pose="{actorTarget}"/>
                         <Action ID="GenerateXYPose" area="{warningArea}" pose="{actorTarget}"/>
                         <Action ID="GenerateXYPose" area="{unsafeArea}" pose="{actorTarget}"/>
-                    </WeightedRandom>
+                    </Control>
                     <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="{actorTarget}"/>
                 </Sequence>
             </ReactiveSequence>
@@ -21,7 +21,7 @@
                 <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="{actorTarget}"/>
                 <Action ID="ActorAnimation" animation_name="standing_to_low"/>
                 <Action ID="ActorAnimation" animation_name="low_inspect"/>
-                <Action ID="ActorAnimation" animation_name="low_grab"/>
+                <Action ID="ActorAnimation" animation_name="low_put_back"/>
                 <Action ID="ActorAnimation" animation_name="low_to_standing"/>
                 <Action ID="ActorMovement" animation_distance="1.5" animation_name="standing_walk" target="1,0.5,0,0,0,0,1"/>
                 <Action ID="ActorAnimation" animation_name="standing_extend_arm"/>

src/btree/trees/actorTreeCoop.xml

@@ -17,7 +17,6 @@
             <Action ID="ActorAnimation" animation_name="standing_extend_arm"/>
             <Action ID="ActorAnimation" animation_name="standing_retract_arm"/>
             <Action ID="SetCalledTo" state="false"/>
-            <SubTree ID="DepositToShelf"/>
         </Sequence>
     </BehaviorTree>
     <BehaviorTree ID="DepositToShelf">

src/btree/trees/robotTreeCoex.xml

@@ -10,14 +10,16 @@
                 <Action ID="SetRobotVelocity" velocity="0.1"/>
                 <Action ID="SetRobotVelocity" velocity="1"/>
             </IfThenElse>
-            <Control ID="InterruptableSequence">
+            <Fallback>
-                <Action ID="GenerateXYPose" area="{negativeYTable}" pose="{target}"/>
+                <Control ID="InterruptableSequence">
-                <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
+                    <Action ID="GenerateXYPose" area="{negativeYTable}" pose="{target}"/>
-                <Action ID="RobotMove" target="{target}"/>
+                    <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
-                <Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
+                    <Action ID="RobotMove" target="{target}"/>
-                <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
+                    <Action ID="GenerateXYPose" area="{positiveYTable}" pose="{target}"/>
-                <Action ID="RobotMove" target="{target}"/>
+                    <Action ID="OffsetPose" input="{target}" offset="0,0,1.1" orientation="0,0,1,0" output="{target}"/>
-            </Control>
+                    <Action ID="RobotMove" target="{target}"/>
+                </Control>
+            </Fallback>
         </ReactiveSequence>
     </BehaviorTree>
 </root>

src/gz_ros2_control

@@ -1 +1 @@
-Subproject commit a295d3319727b3e5ad1b0fa7dbfd34f3369655cf
+Subproject commit 6c4244de09a53d2352d4db30d7574e8277611a73

src/ign_actor_plugin/src/ActorSystem.cpp

@@ -68,8 +68,12 @@ void ActorSystem::switchAnimation(EntityComponentManager &_ecm, char *animationN
 }
 
 double Angle(ignition::math::Quaterniond a,ignition::math::Quaterniond b){
-    auto dot = fmin(abs(a.Normalized().Dot(b.Normalized())),1.0);
+    auto dot = fmin(abs(a.Dot(b)),1.0);
-    return acos(dot);
+    if(dot > 0.999999){
+        return 0.0;
+    }else{
+        return acos(dot) * 2;
+    }
 }
 
 void ActorSystem::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) {
@@ -180,8 +184,6 @@ void ActorSystem::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ec
             }
 
             movementDetails.rotateToEndDuration = Angle(movementDetails.targetDiff.Rot(),movementDetails.target.Rot()) / turnSpeed;
-            
-            igndbg << movementDetails.rotateToTargetDuration << " " <<movementDetails.moveDuration << " " << movementDetails.rotateToEndDuration << std::endl;
         }
         
         movementDetails.time += deltaTimeSeconds;

src/ign_world/launch/gazebo_controller_launch.py

@@ -1,7 +1,7 @@
 import os
 from ament_index_python import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler, TimerAction
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess, RegisterEventHandler
 from launch.event_handlers import OnProcessExit
 from launch_ros.actions import Node, SetParameter
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -129,12 +129,7 @@ def generate_launch_description():
             emulate_tty=True,
         ),
 
-        TimerAction(
+        btree,
-            period=10.0,
-            actions=[
-                btree,
-            ]
-        ),
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(

src/ign_world/world/world.sdf

@@ -30,7 +30,7 @@
                 <rot>180</rot>
             </plugin>
             <skin>
-                <filename>$(find ign_actor_plugin)/animation/standing_walk.dae</filename>
+                <filename>$(find ign_actor_plugin)/animation/walk.dae</filename>
                 <scale>1.0</scale>
             </skin>
             

src/iisy_config/config/iisy.urdf

@@ -258,76 +258,39 @@
       <mechanicalReduction>1</mechanicalReduction>
     </actuator>
   </transmission>
-  <gazebo reference="table">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <visual>
-      <material>
-        <diffuse>0.8 0.8 0.8 1 </diffuse>
-      </material>
-    </visual>
-  </gazebo>
   <gazebo reference="base_bottom">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Orange</material>
-      <material>
-        <diffuse>0.5 0.5 0.5 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
   <gazebo reference="base_top">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Orange</material>
-      <material>
-        <diffuse>1 0.35 0 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
   <gazebo reference="link1_full">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Orange</material>
-      <material>
-        <diffuse>1 0.35 0 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
   <gazebo reference="link2_bottom">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Orange</material>
-      <material>
-        <diffuse>1 0.35 0 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
   <gazebo reference="link2_top">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Orange</material>
-      <material>
-        <diffuse>1 0.35 0 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
   <gazebo reference="link3_bottom">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Orange</material>
-      <material>
-        <diffuse>1 0.35 0 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
   <gazebo reference="link3_top">
     <mu1>0.2</mu1>
     <mu2>0.2</mu2>
-    <visual>
+    <material>Gazebo/Grey</material>
-      <material>
-        <diffuse>0.5 0.5 0.5 1 </diffuse>
-      </material>
-    </visual>
   </gazebo>
 </robot>

src/ros_actor_action_server/src/Server.cpp

@@ -25,9 +25,7 @@ void sendAction(mqd_t queue, ActionMessage *message) {
 
 void waitForState(FeedbackMessage *currentFeedback,ActorPluginState state){
     std::unique_lock lock(feedbackMutex);
-    stateCondition.wait(lock,[&currentFeedback,state]{
+    stateCondition.wait(lock,[&currentFeedback,state]{return currentFeedback->state==state;});
-        return currentFeedback->state==state;
-    });
     
     return;
 }
@@ -101,12 +99,10 @@ int main(int argc, char **argv) {
             }
             if (newFeedback.state==IDLE) {
                 if(currentFeedback.state==ANIMATION && currentAnimationGoalPtr!=nullptr){
-                    std::cout << "Finished Animation. " << std::endl;
                     currentAnimationGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Animation_Result>());
                     currentAnimationGoalPtr = nullptr;
                 }
                 if(currentFeedback.state==MOVEMENT && currentMovementGoalPtr!=nullptr){
-                    std::cout << "Finished Movement. " << std::endl;
                     currentMovementGoalPtr->succeed(std::make_shared<ros_actor_action_server_msgs::action::Movement_Result>());
                     currentMovementGoalPtr = nullptr;
                 }
@@ -124,14 +120,14 @@ int main(int argc, char **argv) {
             rosMutex.lock();
 
             if (currentFeedback.state == IDLE) {
-                std::cout << "Accepting Animation..." << std::endl;
+                std::cout << "Accepting..." << std::endl;
                 
                 currentAction.animationSpeed = animationGoal->animation_speed;
                 strcpy(currentAction.animationName, animationGoal->animation_name.data());
 
                 return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
             } else {
-                std::cout << "Rejecting Animation..." << std::endl;
+                std::cout << "Rejecting..." << std::endl;
                 rosMutex.unlock();
                 return rclcpp_action::GoalResponse::REJECT;
             }
@@ -141,11 +137,9 @@ int main(int argc, char **argv) {
                 return rclcpp_action::CancelResponse::REJECT;
             } else {
                 rosMutex.lock();
-                std::cout << "Cancelling Animation..." << std::endl;
                 sendAction(actionQueue, &cancelAction);
                 
                 waitForState(&currentFeedback, IDLE);
-                std::cout << "Cancelled Animation..." << std::endl;
                 rosMutex.unlock();
 
                 return rclcpp_action::CancelResponse::ACCEPT;
@@ -167,7 +161,7 @@ int main(int argc, char **argv) {
         [&currentAction, &currentFeedback](__attribute__((unused)) const rclcpp_action::GoalUUID goalUuid, const MovementGoalPtr &movementGoal) {
             rosMutex.lock();
             if (currentFeedback.state == IDLE) {
-                std::cout << "Accepting Movement..." << std::endl;
+                std::cout << "Accepting..." << std::endl;
                 
                 currentAction.target = movementGoal->target;
                 currentAction.animationSpeed = movementGoal->animation_distance;
@@ -175,7 +169,7 @@ int main(int argc, char **argv) {
 
                 return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
             } else {
-                std::cout << "Rejecting Movement..." << std::endl;
+                std::cout << "Rejecting..." << std::endl;
                 rosMutex.unlock();
                 return rclcpp_action::GoalResponse::REJECT;
             }
@@ -185,11 +179,9 @@ int main(int argc, char **argv) {
                 return rclcpp_action::CancelResponse::REJECT;
             } else {
                 rosMutex.lock();
-                std::cout << "Cancelling Movement..." << std::endl;
                 sendAction(actionQueue, &cancelAction);
                 
                 waitForState(&currentFeedback, IDLE);
-                std::cout << "Cancelled Movement..." << std::endl;
                 rosMutex.unlock();
                 
                 return rclcpp_action::CancelResponse::ACCEPT;

test.sh

@@ -1,2 +1,2 @@
-ros2 action send_goal /ActorPlugin/animation ign_actor_plugin_msgs/action/Animation "{animation_name: 'standing_walk', animation_speed: 1.0}"
+ros2 action send_goal /ActorPlugin/animation ign_actor_plugin_msgs/action/Animation "{animation_name: 'walk', animation_speed: 1.0}"
-ros2 action send_goal /ActorPlugin/movement ros_actor_action_server_msgs/action/Movement '{animation_name: "standing_walk", animation_speed: 1.0, animation_distance: 1.5, target: {orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}, position: {x: 2.0, y: 0.0, z: 0.0}}}'
+ros2 action send_goal /ActorPlugin/movement ros_actor_action_server_msgs/action/Movement '{animation_name: "walk", animation_speed: 1.0, animation_distance: 1.5, target: {orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}, position: {x: 2.0, y: 0.0, z: 0.0}}}'