Behavioural Planning

Installation

Clone this repository

Build the workspace

cd ~/behavior-planning/Code/bt_workspace
colcon build --symlink-install 

Source each new terminal!

source install/setup.bash

or add this to your .bashrc

source ~/behavior-planning/Code/bt_workspace/install/setup.bash

For simulation with the Turtlebot clone this repository (either in the same workspace or create a new one):

git clone --branch galactic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

Start-Up

To start the Behavior Planner these ROS2 Nodes need to be launched / available:

For simulation:

ros2 run gazebo_sensor_drivers lidar_driver
ros2 run gazebo_sensor_drivers odom_driver
ros2 run gazebo_sensor_drivers imu_driver

or alternatively: ros2 launch gazebo_sensor_drivers sensor_drivers.launch

The simulation environment: ros2 launch turtlebot3_gazebo turtlebot3_house.launch

Navigation 2: ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time=True map='/home/$USER/map_house.yaml'

BT Utilities:

ros2 run cmd_vel_decision_gate cmd_vel_decision_gate
ros2 run sensor_data_backup sensor_data_backup
ros2 run bt execution_checker_service
ros2 run robot_battery robot_battery

or alternatively: ros2 launch bt bt_utils.launch.py

and the Behavior Tree: ros2 run bt bt_lidar

To monitor the live BT state with Groot the ports in the live monitoring are:

Server IP: localhost
Publisher Port: 1668
Server Port: 1669