feat: bump behaviortree_cpp to v4

sea-bass · Feb 16, 2023 · 7afbe86 · 7afbe86
1 parent 04908b8
commit 7afbe86
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Showing 6 changed files with 12 additions and 8 deletions.
diff --git a/dependencies.repos b/dependencies.repos
@@ -45,3 +45,7 @@ repositories:
     type: git
     url: https://github.com/BehaviorTree/Groot.git
     version: master
+  behavior_tree_cpp:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: master
diff --git a/tb3_autonomy/CMakeLists.txt b/tb3_autonomy/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(nav2_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 find_package(cv_bridge REQUIRED)
 find_package(OpenCV REQUIRED)
 find_package(image_transport REQUIRED)
@@ -50,7 +50,7 @@ set(AUTONOMY_SOURCES
 set(TARGET_DEPENDS
     ament_index_cpp rclcpp rclcpp_action
     nav2_msgs sensor_msgs cv_bridge image_transport
-    behaviortree_cpp_v3 tf2 tf2_ros tf2_geometry_msgs yaml-cpp
+    behaviortree_cpp tf2 tf2_ros tf2_geometry_msgs yaml-cpp
 )
 include_directories(include)
 add_executable(autonomy_node_cpp src/autonomy_node.cpp ${AUTONOMY_SOURCES})

diff --git a/tb3_autonomy/include/navigation_behaviors.h b/tb3_autonomy/include/navigation_behaviors.h
@@ -3,7 +3,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "nav2_msgs/action/navigate_to_pose.hpp"
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 // Sets number of locations from list.
 class SetLocations : public BT::SyncActionNode

diff --git a/tb3_autonomy/include/vision_behaviors.h b/tb3_autonomy/include/vision_behaviors.h
@@ -5,7 +5,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "image_transport/image_transport.hpp"
 #include "sensor_msgs/msg/image.hpp"
-#include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp/behavior_tree.h"
 
 // HSV Thresholding parameters
 // The convention is {H_MIN, H_MAX, S_MIN, S_MAX, V_MIN, V_MAX}

diff --git a/tb3_autonomy/package.xml b/tb3_autonomy/package.xml
@@ -14,7 +14,7 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>ament_index_cpp</depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
   <depend>nav2_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>tb3_worlds</depend>

diff --git a/tb3_autonomy/src/autonomy_node.cpp b/tb3_autonomy/src/autonomy_node.cpp
@@ -8,8 +8,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "ament_index_cpp/get_package_share_directory.hpp"
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/loggers/bt_zmq_publisher.h"
 #include "yaml-cpp/yaml.h"
 
 #include "navigation_behaviors.h"
@@ -111,7 +111,7 @@ class AutonomyNode : public rclcpp::Node {
 
         void update_behavior_tree() {
             // Tick the behavior tree.
-            BT::NodeStatus tree_status = tree_.tickRoot();
+            BT::NodeStatus tree_status = tree_.tickOnce();
             if (tree_status == BT::NodeStatus::RUNNING) {
                 return;
             }