Update behaviortree_cpp to v4

dependencies.repos

@@ -40,8 +40,13 @@ repositories:
     url: https://github.com/sea-bass/py_trees_ros_viewer.git
     version: devel
 
-  # Groot for visualizing behavior trees from BehaviorTree.CPP.
+  # BehaviorTree.CPP and Groot for visualizing behavior trees from BehaviorTree.CPP.
+  behaviortree_cpp:
+    type: git
+    url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
+    version: master
   groot:
     type: git
     url: https://github.com/BehaviorTree/Groot.git
     version: master
+

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})

tb3_autonomy/bt_xml/nav_tree_naive.xml

@@ -1,5 +1,5 @@
 <!-- Behavior tree that sequentially navigates locations naively -->
-<root main_tree_to_execute = "MainTree" >
+<root BTCPP_format="4" >
     <BehaviorTree ID="MainTree">
         <Sequence name="sequence">
             <GoToPose       name="go_to_location1"  loc="location1" />

tb3_autonomy/bt_xml/nav_tree_queue.xml

@@ -1,5 +1,5 @@
 <!-- Behavior tree that sequentially navigates locations using a queue of locations. -->
-<root main_tree_to_execute = "MainTree" >
+<root BTCPP_format="4">
     <BehaviorTree ID="MainTree">
     <Sequence name="main_loop">
         <SetLocations                   name="set_locations" num_locs="{num_locs}"/>

tb3_autonomy/bt_xml/tree_naive.xml

@@ -1,5 +1,5 @@
 <!-- Behavior tree that looks for objects by naively looking through locations. -->
-<root main_tree_to_execute = "MainTree" >
+<root BTCPP_format="4">
     <BehaviorTree ID="MainTree">
     <Sequence name="main_loop">
         <SetLocations                   name="set_locations" num_locs="{num_locs}"/>

tb3_autonomy/bt_xml/tree_queue.xml

@@ -1,5 +1,5 @@
 <!-- Behavior tree that looks for objects by using a queue of locations. -->
-<root main_tree_to_execute = "MainTree" >
+<root BTCPP_format="4">
     <BehaviorTree ID="MainTree">
     <Sequence name="main_loop">
         <SetLocations                   name="set_locations" num_locs="{num_locs}"/>

tb3_autonomy/include/navigation_behaviors.h

@@ -3,13 +3,13 @@
 #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
 {
   public:
-    SetLocations(const std::string& name, const BT::NodeConfiguration& config);
+    SetLocations(const std::string& name, const BT::NodeConfig& config);
     BT::NodeStatus tick() override;
     static BT::PortsList providedPorts();
 };
@@ -22,7 +22,7 @@ class GetLocationFromQueue : public BT::SyncActionNode
     std::deque<std::string> location_queue_;
 
     GetLocationFromQueue(
-        const std::string& name, const BT::NodeConfiguration& config,
+        const std::string& name, const BT::NodeConfig& config,
         rclcpp::Node::SharedPtr node_ptr);
     BT::NodeStatus tick() override;
     static BT::PortsList providedPorts();
@@ -41,7 +41,7 @@ class GoToPose : public BT::StatefulActionNode
     rclcpp_action::Client<NavigateToPose>::SharedPtr client_ptr_;
 
     // Method overrides
-    GoToPose(const std::string& name, const BT::NodeConfiguration& config,
+    GoToPose(const std::string& name, const BT::NodeConfig& config,
              rclcpp::Node::SharedPtr node_ptr);
     BT::NodeStatus onStart() override;
     BT::NodeStatus onRunning() override;

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}
@@ -27,7 +27,7 @@ class LookForObject : public BT::StatefulActionNode
     image_transport::Subscriber image_sub_;
 
     // Method overrides
-    LookForObject(const std::string& name, const BT::NodeConfiguration& config,
+    LookForObject(const std::string& name, const BT::NodeConfig& config,
                   rclcpp::Node::SharedPtr node_ptr);
     BT::NodeStatus onStart() override;
     BT::NodeStatus onRunning() override;

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>

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"
@@ -31,7 +31,7 @@ void registerRosNodeType(BT::BehaviorTreeFactory& factory,
                          const std::string& registration_ID,
                          rclcpp::Node::SharedPtr node_ptr) {
     BT::NodeBuilder builder = [=](const std::string& name,
-                                  const BT::NodeConfiguration& config) {
+                                  const BT::NodeConfig& config) {
         return std::make_unique<NodeBehaviorT>(name, config, node_ptr);
     };
     factory.registerBuilder<NodeBehaviorT>(registration_ID, builder);
@@ -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;
             }

tb3_autonomy/src/navigation_behaviors.cpp

@@ -10,7 +10,7 @@
 
 // SETLOCATIONS
 // Gets a list of locations from a YAML file and ensures they are not empty
-SetLocations::SetLocations(const std::string& name, const BT::NodeConfiguration& config) :
+SetLocations::SetLocations(const std::string& name, const BT::NodeConfig& config) :
     BT::SyncActionNode(name, config)
 {
     std::cout << "[" << this->name() << "] Initialized" << std::endl;
@@ -41,7 +41,7 @@ BT::PortsList SetLocations::providedPorts()
 // Gets a location name from a queue of locations to visit.
 // If the queue is empty, this behavior fails.
 GetLocationFromQueue::GetLocationFromQueue(const std::string& name,
-                                           const BT::NodeConfiguration& config,
+                                           const BT::NodeConfig& config,
                                            rclcpp::Node::SharedPtr node_ptr) :
     BT::SyncActionNode(name, config), node_ptr_{node_ptr}
 {
@@ -83,7 +83,7 @@ BT::PortsList GetLocationFromQueue::providedPorts()
 // GOTOPOSE
 // Wrapper behavior around the `navigate_to_pose` action client,
 // whose status reflects the status of the ROS action.
-GoToPose::GoToPose(const std::string& name, const BT::NodeConfiguration& config,
+GoToPose::GoToPose(const std::string& name, const BT::NodeConfig& config,
                    rclcpp::Node::SharedPtr node_ptr) :
     BT::StatefulActionNode(name, config), node_ptr_{node_ptr} {}
 
@@ -95,7 +95,7 @@ BT::NodeStatus GoToPose::onStart() {
     }
 
     // Read the YAML file
-    BT::Optional<std::string> loc = getInput<std::string>("loc");
+    BT::Expected<std::string> loc = getInput<std::string>("loc");
     const std::string location_file = 
         node_ptr_->get_parameter("location_file").as_string();
     YAML::Node locations = YAML::LoadFile(location_file);

tb3_autonomy/src/vision_behaviors.cpp

@@ -14,7 +14,7 @@ using std::placeholders::_1;
 // LOOKFOROBJECT
 // Looks for an object of a certain color, specified by a parameter
 LookForObject::LookForObject(const std::string& name,
-                             const BT::NodeConfiguration& config,
+                             const BT::NodeConfig& config,
                              rclcpp::Node::SharedPtr node_ptr) :
     BT::StatefulActionNode(name, config), node_ptr_{node_ptr}
 {