Upgrade for the new blackboards with read/write tracking

README.md

@@ -17,7 +17,7 @@ For older versions of the documentation, refer to the links in the matrix below.
 | ROS2 | [Dashing][dashing-build-farm] |  ROS1 | [Melodic][melodic-build-farm] | [Kinetic][kinetic-build-farm] |
 |:---:|:---:|:---:|:---:|:---:|
 | [py_trees][py-trees-ros-index] | [![1.2.x][1.2.x-sources-image]][py-trees-sources-1.2.x]<br/>[![Build Status][py-trees-build-status-dashing-image]][py-trees-build-status-dashing]<br/>[![1.2.x-Docs][1.2.x-rtd-image]][py-trees-docs-1.2.x] | [py_trees][py-trees-wiki] | [![0.6.x][0.6.x-sources-image]][py-trees-sources-0.6.x]<br/>[![Build Status][py-trees-build-status-melodic-image]][py-trees-build-status-melodic]<br/>[![Docs Status][py-trees-docs-melodic-image]][py-trees-docs-melodic] | [![0.5.x][0.5.x-sources-image]][py-trees-sources-0.5.x]<br/>[![Build Status][py-trees-build-status-kinetic-image]][py-trees-build-status-kinetic]<br/>[![Docs Status][py-trees-docs-kinetic-image]][py-trees-docs-kinetic] |
-| [py_trees_ros_interfaces][py-trees-ros-interfaces-ros-index] | [![1.1.x][1.1.x-sources-image]][py-trees-ros-interfaces-sources-1.1.x]<br/>[![Build Status][py-trees-ros-interfaces-build-status-dashing-image]][py-trees-ros-interfaces-build-status-dashing]<br/>![1.1.x-Docs][not-available-docs-image] | [py_trees_msgs][py-trees-msgs-wiki] | [![0.3.x][0.3.x-sources-image]][py-trees-msgs-sources-melodic]<br/>[![Build Status][py-trees-msgs-build-status-melodic-image]][py-trees-msgs-build-status-melodic]<br/>![0.3.x-Docs][not-available-docs-image] | [![0.3.x][0.3.x-sources-image]][py-trees-msgs-sources-kinetic]<br/>[![Build Status][py-trees-msgs-build-status-kinetic-image]][py-trees-msgs-build-status-kinetic]<br/>![0.3.x-Docs][not-available-docs-image] |
+| [py_trees_ros_interfaces][py-trees-ros-interfaces-ros-index] | [![1.2.x][1.2.x-sources-image]][py-trees-ros-interfaces-sources-1.2.x]<br/>[![Build Status][py-trees-ros-interfaces-build-status-dashing-image]][py-trees-ros-interfaces-build-status-dashing]<br/>![1.1.x-Docs][not-available-docs-image] | [py_trees_msgs][py-trees-msgs-wiki] | [![0.3.x][0.3.x-sources-image]][py-trees-msgs-sources-melodic]<br/>[![Build Status][py-trees-msgs-build-status-melodic-image]][py-trees-msgs-build-status-melodic]<br/>![0.3.x-Docs][not-available-docs-image] | [![0.3.x][0.3.x-sources-image]][py-trees-msgs-sources-kinetic]<br/>[![Build Status][py-trees-msgs-build-status-kinetic-image]][py-trees-msgs-build-status-kinetic]<br/>![0.3.x-Docs][not-available-docs-image] |
 | [py_trees_ros][py-trees-ros-ros-index] | [![1.1.x][1.1.x-sources-image]][py-trees-ros-sources-1.1.x]<br/>[![Build Status][py-trees-ros-build-status-dashing-image]][py-trees-ros-build-status-dashing]<br/>[![1.1.x-Docs][1.1.x-rtd-image]][py-trees-ros-docs-1.1.x] | [py_trees_ros][py-trees-ros-wiki] | [![0.5.x][0.5.x-sources-image]][py-trees-ros-sources-0.5.x]<br/>[![Build Status][py-trees-ros-build-status-melodic-image]][py-trees-ros-build-status-melodic]<br/>[![Docs Status][py-trees-ros-docs-melodic-image]][py-trees-ros-docs-melodic] | [![0.5.x][0.5.x-sources-image]][py-trees-ros-sources-0.5.x]<br/>[![Build Status][py-trees-ros-build-status-kinetic-image]][py-trees-ros-build-status-kinetic]<br/>[![Docs Status][py-trees-ros-docs-kinetic-image]][py-trees-ros-docs-kinetic] |
 | [py_trees_ros_tutorials][py-trees-ros-tutorials-ros-index] | [![1.0.x][1.0.x-sources-image]][py-trees-ros-tutorials-sources-1.0.x]<br/>[![Build Status][py-trees-ros-tutorials-build-status-dashing-image]][py-trees-ros-tutorials-build-status-dashing]<br/>[![1.0.x-Docs][1.0.x-rtd-image]][py-trees-ros-tutorials-docs-1.0.x] | - | - | - |
 | [py_trees_js][py-trees-js-ros-index] | [![0.4.x][0.4.x-sources-image]][py-trees-js-sources-0.4.x]<br/>[![Build Status][py-trees-js-build-status-dashing-image]][py-trees-js-build-status-dashing]<br/> [![0.4.x-Docs][readme-docs-image]][py-trees-js-docs-0.4.x] | - | - | - |
@@ -84,6 +84,7 @@ For older versions of the documentation, refer to the links in the matrix below.
 [py-trees-ros-interfaces-build-status-dashing]: http://build.ros2.org/job/Dbin_uB64__py_trees_ros_interfaces__ubuntu_bionic_amd64__binary/
 [py-trees-ros-interfaces-build-status-dashing-image]: http://build.ros2.org/job/Dbin_uB64__py_trees_ros_interfaces__ubuntu_bionic_amd64__binary/badge/icon?style=plastic
 [py-trees-ros-interfaces-ros-index]: https://index.ros.org/p/py_trees_ros_interfaces/github-splintered-reality-py_trees_ros_interfaces
+[py-trees-ros-interfaces-sources-1.2.x]: https://github.com/splintered-reality/py_trees_ros_interfaces/tree/release/1.2.x
 [py-trees-ros-interfaces-sources-1.1.x]: https://github.com/splintered-reality/py_trees_ros_interfaces/tree/release/1.1.x
 
 [py-trees-ros-build-status-dashing]: http://build.ros2.org/job/Dbin_uB64__py_trees_ros__ubuntu_bionic_amd64__binary/

doc/conf.py

@@ -163,8 +163,10 @@
 
 MOCK_MODULES = [
     'action_msgs', 'action_msgs.msg',
+    'diagnostic_msgs', 'diagnostic_msgs.msg',
     'py_trees_ros_interfaces', 'py_trees_ros_interfaces.action',
     'py_trees_ros_interfaces.msg', 'py_trees_ros_interfaces.srv',
+    'rcl_interfaces', 'rcl_interfaces.msg',
     'rclpy', 'rclpy.action', 'rclpy.callback_groups', 'rclpy.executors',
     'rclpy.expand_topic_name', 'rclpy.node', 'rclpy.parameter',
     'rclpy.qos', 'rclpy.time',

py_trees_ros/battery.py

@@ -59,7 +59,7 @@ def __init__(self,
                          blackboard_variables={"battery": None},
                          clearing_policy=py_trees.common.ClearingPolicy.NEVER
                          )
-        self.blackboard = py_trees.blackboard.Blackboard()
+        self.blackboard.register_key(key="battery_low_warning", write=True)
         self.blackboard.battery = sensor_msgs.BatteryState()
         self.blackboard.battery.percentage = 0.0
         self.blackboard.battery.power_supply_status = sensor_msgs.BatteryState.POWER_SUPPLY_STATUS_UNKNOWN  # noqa