This application uses the tool behavior_tree_cpp in order to formulate the behavior tree. The user can create the mission graphically and monitorize it using Groot.
In order to execute the mission, perform the following steps:
-
Install behavior_tree_cpp and groot:
$ ./install_from_source.sh -
In another console compile the project:
$ cd $AEROSTACK_WORKSPACE $ catkin_make -
Execute the script that launches Gazebo for this project::
$ ./launcher_gazebo.sh -
Wait until the following window is presented:
-
Execute the script that launches the Aerostack components for this project:
$ ./main_launcher.sh
As a result of this command, a set of windows are presented to monitor the execution of the mission. These windows include:
- Alphanumeric behavior viewer
- Belief viewers
- Image view of the front cameras
- Groot
In order to monitorize the execution of the mission, press the button "monitor"and then "start" (window groot) . The mission is previously stored as a behavior tree in configs/mission/mission.xml. The following window is presented:
Then look for the terminal of the below image and when it is presented press the button "connect" in Groot, if it fails press again the button.
In groot you should visualize the following window:
If you want to edit the mission you have to complete these steps:
-
Open Groot editor (press editor and start):
$ ./Groot/build/Groot -
Press "Load Tree" button and load the mission in "example_with_behavior_tree_cpp/configs/mission).
-
Drag the nodes into the blackboard and connect them.
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In order to save the tree press the button "Save Tree" and save it with the same name and in the same location as the previous mission.