From c81ba020ba450f5f4b02a023f3b8e4586358b4ea Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 09:33:31 +0000 Subject: [PATCH 01/13] Fix BT.CPP upgrade --- opennav_coverage_bt/CMakeLists.txt | 4 ++-- opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp | 2 +- opennav_coverage_bt/package.xml | 2 +- opennav_coverage_bt/src/cancel_complete_coverage_path.cpp | 2 +- opennav_coverage_bt/src/compute_complete_coverage_path.cpp | 2 +- opennav_coverage_bt/test/test_cancel_complete_coverage.cpp | 2 +- opennav_coverage_bt/test/test_compute_coverage_path.cpp | 2 +- opennav_coverage_navigator/src/coverage_navigator.cpp | 4 ++-- 8 files changed, 10 insertions(+), 10 deletions(-) diff --git a/opennav_coverage_bt/CMakeLists.txt b/opennav_coverage_bt/CMakeLists.txt index 7844ee6..3d3aade 100644 --- a/opennav_coverage_bt/CMakeLists.txt +++ b/opennav_coverage_bt/CMakeLists.txt @@ -12,7 +12,7 @@ find_package(nav2_behavior_tree REQUIRED) find_package(nav_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(opennav_coverage_msgs REQUIRED) -find_package(behaviortree_cpp_v3 REQUIRED) +find_package(behaviortree_cpp REQUIRED) # potentially replace with nav2_common, nav2_package() set(CMAKE_CXX_STANDARD 17) @@ -33,7 +33,7 @@ set(dependencies nav_msgs geometry_msgs opennav_coverage_msgs - behaviortree_cpp_v3 + behaviortree_cpp ) add_library(opennav_compute_complete_coverage_action_bt_node SHARED src/compute_complete_coverage_path.cpp) diff --git a/opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp b/opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp index dee58a2..1f9eabd 100644 --- a/opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp +++ b/opennav_coverage_bt/include/opennav_coverage_bt/utils.hpp @@ -16,7 +16,7 @@ #define OPENNAV_COVERAGE_BT__UTILS_HPP_ #include -#include "behaviortree_cpp_v3/behavior_tree.h" +#include "behaviortree_cpp/behavior_tree.h" namespace BT { diff --git a/opennav_coverage_bt/package.xml b/opennav_coverage_bt/package.xml index e8c96db..f207c3b 100644 --- a/opennav_coverage_bt/package.xml +++ b/opennav_coverage_bt/package.xml @@ -18,7 +18,7 @@ nav_msgs geometry_msgs opennav_coverage_msgs - behaviortree_cpp_v3 + behaviortree_cpp ament_lint_common ament_lint_auto diff --git a/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp b/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp index f0658ca..9eee337 100644 --- a/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp +++ b/opennav_coverage_bt/src/cancel_complete_coverage_path.cpp @@ -31,7 +31,7 @@ CoverageCancel::CoverageCancel( } // namespace opennav_coverage_bt -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp index 307aca1..6ce5673 100644 --- a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp +++ b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp @@ -98,7 +98,7 @@ void ComputeCoveragePathAction::halt() } // namespace opennav_coverage_bt -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" BT_REGISTER_NODES(factory) { BT::NodeBuilder builder = diff --git a/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp b/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp index 8ffb87c..630fe3b 100644 --- a/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp +++ b/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp @@ -17,7 +17,7 @@ #include #include -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/utils/test_action_server.hpp" #include "opennav_coverage_bt/cancel_complete_coverage_path.hpp" diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp index 09ba0b8..9d21fcc 100644 --- a/opennav_coverage_bt/test/test_compute_coverage_path.cpp +++ b/opennav_coverage_bt/test/test_compute_coverage_path.cpp @@ -20,7 +20,7 @@ #include "nav_msgs/msg/path.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" -#include "behaviortree_cpp_v3/bt_factory.h" +#include "behaviortree_cpp/bt_factory.h" #include "nav2_behavior_tree/utils/test_action_server.hpp" #include "opennav_coverage_bt/compute_complete_coverage_path.hpp" diff --git a/opennav_coverage_navigator/src/coverage_navigator.cpp b/opennav_coverage_navigator/src/coverage_navigator.cpp index d4e46a7..952dd93 100644 --- a/opennav_coverage_navigator/src/coverage_navigator.cpp +++ b/opennav_coverage_navigator/src/coverage_navigator.cpp @@ -122,7 +122,7 @@ CoverageNavigator::onLoop() try { // Get current path points nav_msgs::msg::Path current_path; - blackboard->get(path_blackboard_id_, current_path); + [[maybe_unused]] auto res = blackboard->get(path_blackboard_id_, current_path); // Find the closest pose to current pose on global path auto find_closest_pose_idx = @@ -165,7 +165,7 @@ CoverageNavigator::onLoop() } int recovery_count = 0; - blackboard->get("number_recoveries", recovery_count); + [[maybe_unused]] auto result = blackboard->get("number_recoveries", recovery_count); feedback_msg->number_of_recoveries = recovery_count; feedback_msg->current_pose = current_pose; feedback_msg->navigation_time = clock_->now() - start_time_; From 2688106497a7a6f4eb0ca529546fa1d5d2fbdf36 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 16:58:03 +0000 Subject: [PATCH 02/13] Bug fixes --- .gitignore | 1 + .../include/opennav_coverage/visualizer.hpp | 8 ++-- opennav_coverage/src/visualizer.cpp | 1 + .../src/compute_complete_coverage_path.cpp | 1 + .../opennav_coverage_demo/demo_coverage.py | 46 +++++++++++-------- 5 files changed, 33 insertions(+), 24 deletions(-) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c18dd8d --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +__pycache__/ diff --git a/opennav_coverage/include/opennav_coverage/visualizer.hpp b/opennav_coverage/include/opennav_coverage/visualizer.hpp index 67afd8f..5e30638 100644 --- a/opennav_coverage/include/opennav_coverage/visualizer.hpp +++ b/opennav_coverage/include/opennav_coverage/visualizer.hpp @@ -46,16 +46,16 @@ class Visualizer { nav_plan_pub_ = rclcpp::create_publisher( node->get_node_topics_interface(), - "coverage_server/coverage_plan", rclcpp::QoS(1)); + "coverage_server/coverage_plan", rclcpp::QoS(1).transient_local()); headlands_pub_ = rclcpp::create_publisher( node->get_node_topics_interface(), - "coverage_server/field_boundary", rclcpp::QoS(1)); + "coverage_server/field_boundary", rclcpp::QoS(1).transient_local()); planning_field_pub_ = rclcpp::create_publisher( node->get_node_topics_interface(), - "coverage_server/planning_field", rclcpp::QoS(1)); + "coverage_server/planning_field", rclcpp::QoS(1).transient_local()); swaths_pub_ = rclcpp::create_publisher( node->get_node_topics_interface(), - "coverage_server/swaths", rclcpp::QoS(1)); + "coverage_server/swaths", rclcpp::QoS(1).transient_local()); } void deactivate(); diff --git a/opennav_coverage/src/visualizer.cpp b/opennav_coverage/src/visualizer.cpp index e3b47c9..4427d4b 100644 --- a/opennav_coverage/src/visualizer.cpp +++ b/opennav_coverage/src/visualizer.cpp @@ -46,6 +46,7 @@ void Visualizer::visualize( for (unsigned int i = 0; i != utm_path->poses.size(); i++) { utm_path->poses[i].pose.position.x += ref_pt.getX(); utm_path->poses[i].pose.position.y += ref_pt.getY(); + utm_path->poses[i].header.frame_id = GLOBAL_FRAME; // Necessary for Foxglove } nav_plan_pub_->publish(std::move(utm_path)); } diff --git a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp index 6ce5673..6f988e2 100644 --- a/opennav_coverage_bt/src/compute_complete_coverage_path.cpp +++ b/opennav_coverage_bt/src/compute_complete_coverage_path.cpp @@ -46,6 +46,7 @@ void ComputeCoveragePathAction::on_tick() // Convert from vector of Polygons to coverage sp. message std::vector polys; getInput("polygons", polys); + goal_.polygons.clear(); goal_.polygons.resize(polys.size()); for (unsigned int i = 0; i != polys.size(); i++) { for (unsigned int j = 0; j != polys[i].points.size(); j++) { diff --git a/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py b/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py index 5435451..3cead0c 100644 --- a/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py +++ b/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py @@ -150,27 +150,33 @@ def main(): navigator.navigateCoverage(field) i = 0 - while not navigator.isTaskComplete(): - # Do something with the feedback - i = i + 1 - feedback = navigator.getFeedback() - if feedback and i % 5 == 0: - print('Estimated time of arrival: ' + '{0:.0f}'.format( - Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9) - + ' seconds.') - time.sleep(1) - - # Do something depending on the return code - result = navigator.getResult() - if result == TaskResult.SUCCEEDED: - print('Goal succeeded!') - elif result == TaskResult.CANCELED: - print('Goal was canceled!') - elif result == TaskResult.FAILED: - print('Goal failed!') - else: - print('Goal has an invalid return status!') + try: + while not navigator.isTaskComplete(): + # Do something with the feedback + i = i + 1 + feedback = navigator.getFeedback() + if feedback and i % 5 == 0: + print('Estimated time of arrival: ' + '{0:.0f}'.format( + Duration.from_msg(feedback.estimated_time_remaining).nanoseconds / 1e9) + + ' seconds.') + time.sleep(1) + + # Do something depending on the return code + result = navigator.getResult() + if result == TaskResult.SUCCEEDED: + print('Goal succeeded!') + elif result == TaskResult.CANCELED: + print('Goal was canceled!') + elif result == TaskResult.FAILED: + print('Goal failed!') + else: + print('Goal has an invalid return status!') + except KeyboardInterrupt: + print("\nCtrl-C detected. Cancelling goal") + cancel_future = navigator.goal_handle.cancel_goal_async() + rclpy.spin_until_future_complete(navigator, cancel_future) + print('Goal was canceled!') if __name__ == '__main__': main() From 0841d1d53f18728bec00fffd6d69bc0cdf35dd01 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 5 Mar 2024 10:23:55 -0800 Subject: [PATCH 03/13] Update opennav_coverage/src/visualizer.cpp --- opennav_coverage/src/visualizer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opennav_coverage/src/visualizer.cpp b/opennav_coverage/src/visualizer.cpp index 4427d4b..e98bdd3 100644 --- a/opennav_coverage/src/visualizer.cpp +++ b/opennav_coverage/src/visualizer.cpp @@ -46,7 +46,7 @@ void Visualizer::visualize( for (unsigned int i = 0; i != utm_path->poses.size(); i++) { utm_path->poses[i].pose.position.x += ref_pt.getX(); utm_path->poses[i].pose.position.y += ref_pt.getY(); - utm_path->poses[i].header.frame_id = GLOBAL_FRAME; // Necessary for Foxglove + utm_path->poses[i].header.frame_id = GLOBAL_FRAME; // Necessary for Foxglove } nav_plan_pub_->publish(std::move(utm_path)); } From 4cbdcc7d0886a252151151b1b30d84274291340a Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 19:30:21 +0000 Subject: [PATCH 04/13] add readme --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 283796a..be6f1e2 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # Open Navigation's Nav2 Complete Coverage -This package contains the Complete Coverage Task Server & auxiliary tools utilizing the [Fields2Cover](https://github.com/Fields2Cover/Fields2Cover) complete coverage planning system which includes a great deal of options in headland, swath, route, and final path planning. You can find more information about Fields2Cover (F2C) in its [ReadTheDocs Documentation](https://fields2cover.github.io/index.html). It can accept both GPS and Cartesian coordinates and publishes the field, headland, swaths, and route as separate topics in cartesian coordinates for debugging and visualization. It can also compute coverage paths based on open-field polygons **or** based on annotated rows as might exist in a tree farm or other applications with both irregular and regular pre-established rows. +This package contains the Complete Coverage Task Server & auxiliary tools utilizing the [Fields2Cover](https://github.com/Fields2Cover/Fields2Cover) complete coverage planning system which includes a great deal of options in headland, swath, route, and final path planning. You can find more information about Fields2Cover (F2C) in its [ReadTheDocs Documentation](https://fields2cover.github.io/index.html). It can accept both GPS and Cartesian coordinates and publishes the field, headland, swaths, and route as separate topics in cartesian coordinates for debugging and visualization (topics have Transient Local durability for late-joining visualization tools). It can also compute coverage paths based on open-field polygons **or** based on annotated rows as might exist in a tree farm or other applications with both irregular and regular pre-established rows. This capability was created by [Open Navigation LLC](https://www.opennav.org/) in partnership with [Bonsai Robotics](https://www.bonsairobotics.ai/). Bonsai Robotics builds autonomous software for machines in adverse and GPS degraded conditions utilizing vision. Bonsai Robotics funded the development of this work for their own product and has graciously allowed Open Navigation to open-source it for the community to leverage in their own systems. Please thank Bonsai Robotics for their commendable donation to the ROS community! Bonsai is hiring [here](https://www.bonsairobotics.ai/jobs). From 06497c7ca984b606a040d4a4ce8ef73f93faea33 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 21:03:04 +0000 Subject: [PATCH 05/13] fix flake8 --- opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py b/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py index 3cead0c..fe4d020 100644 --- a/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py +++ b/opennav_coverage_demo/opennav_coverage_demo/demo_coverage.py @@ -173,10 +173,11 @@ def main(): print('Goal has an invalid return status!') except KeyboardInterrupt: - print("\nCtrl-C detected. Cancelling goal") + print('\nCtrl-C detected. Cancelling goal') cancel_future = navigator.goal_handle.cancel_goal_async() rclpy.spin_until_future_complete(navigator, cancel_future) print('Goal was canceled!') + if __name__ == '__main__': main() From 62d628aae20e9dc3f50fe0cc6089cca4e23d1fe2 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 21:38:01 +0000 Subject: [PATCH 06/13] building fixes --- opennav_coverage/CMakeLists.txt | 2 ++ opennav_coverage_bt/test/test_compute_coverage_path.cpp | 4 ++-- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/opennav_coverage/CMakeLists.txt b/opennav_coverage/CMakeLists.txt index 2e1ff4e..2ffaf99 100644 --- a/opennav_coverage/CMakeLists.txt +++ b/opennav_coverage/CMakeLists.txt @@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5) project(opennav_coverage) find_package(ament_cmake REQUIRED) +find_package(ament_index_cpp REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_action REQUIRED) find_package(rclcpp_lifecycle REQUIRED) @@ -42,6 +43,7 @@ set(dependencies builtin_interfaces tf2_ros opennav_coverage_msgs + ament_index_cpp ) add_library(${library_name} SHARED diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp index 9d21fcc..e206778 100644 --- a/opennav_coverage_bt/test/test_compute_coverage_path.cpp +++ b/opennav_coverage_bt/test/test_compute_coverage_path.cpp @@ -141,13 +141,13 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick) // check if returned path is correct nav_msgs::msg::Path path; - config_->blackboard->get("path", path); + [[maybe_unused]] auto res = config_->blackboard->get("path", path); EXPECT_EQ(path.poses.size(), 2u); EXPECT_EQ(path.poses[0].pose.position.x, 0.0); EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->halt(); + tree_->rootNode()->haltNode(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); } From 3669e7d84d3065b0a149a20babe35fe5eba008b8 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 21:52:30 +0000 Subject: [PATCH 07/13] testing with rolling --- .github/workflows/test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 7e2a3e6..e7188ed 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - ros_distro: [iron] + ros_distro: [rolling] steps: - uses: actions/checkout@v2 - name: Install Cyclone DDS From a3948ec32f25736508b81b142b647f4e8a3401c7 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Tue, 5 Mar 2024 21:57:05 +0000 Subject: [PATCH 08/13] Revert "testing with rolling" This reverts commit 3669e7d84d3065b0a149a20babe35fe5eba008b8. --- .github/workflows/test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index e7188ed..7e2a3e6 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - ros_distro: [rolling] + ros_distro: [iron] steps: - uses: actions/checkout@v2 - name: Install Cyclone DDS From 2d4810578060d155837ee12d61c985767a7e9ebf Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Wed, 6 Mar 2024 16:37:21 +0000 Subject: [PATCH 09/13] test with rolling --- .github/deps.repos | 4 ++++ .github/workflows/test.yml | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/deps.repos b/.github/deps.repos index ef88206..f2e871a 100644 --- a/.github/deps.repos +++ b/.github/deps.repos @@ -3,3 +3,7 @@ repositories: type: git url: https://github.com/Fields2Cover/Fields2Cover.git version: main + navigation2: + type: git + url: https://github.com/ros-planning/navigation2/ + version: main \ No newline at end of file diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 7e2a3e6..e7188ed 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - ros_distro: [iron] + ros_distro: [rolling] steps: - uses: actions/checkout@v2 - name: Install Cyclone DDS From 99eadcfd6a2eab9cb04266c702df857a022f0641 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Thu, 7 Mar 2024 22:01:57 +0000 Subject: [PATCH 10/13] Add BTCPP_format="4" to trees --- .../behavior_trees/navigate_w_basic_row_complete_coverage.xml | 2 +- opennav_coverage_bt/test/test_cancel_complete_coverage.cpp | 2 +- opennav_coverage_bt/test/test_compute_coverage_path.cpp | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml index 7a2fc52..7743d92 100644 --- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml +++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml @@ -11,7 +11,7 @@ This BT shows field file usage with the row coverage server --> - + diff --git a/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp b/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp index 630fe3b..d6fe48d 100644 --- a/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp +++ b/opennav_coverage_bt/test/test_cancel_complete_coverage.cpp @@ -125,7 +125,7 @@ TEST_F(CancelCoverageActionTestFixture, test_ports) { std::string xml_txt = R"( - + diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp index e206778..20fb146 100644 --- a/opennav_coverage_bt/test/test_compute_coverage_path.cpp +++ b/opennav_coverage_bt/test/test_compute_coverage_path.cpp @@ -123,7 +123,7 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick) // create tree std::string xml_txt = R"( - + From aa2cf204ebceb08251c2cc26700bba21e78a3758 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Thu, 7 Mar 2024 22:06:30 +0000 Subject: [PATCH 11/13] Use tree_->haltTree(); --- opennav_coverage_bt/test/test_compute_coverage_path.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp index 20fb146..ed79d4c 100644 --- a/opennav_coverage_bt/test/test_compute_coverage_path.cpp +++ b/opennav_coverage_bt/test/test_compute_coverage_path.cpp @@ -147,7 +147,7 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick) EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->haltNode(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); } From 668abc4318404d3d0ccce9a0aa92e08b3f089aaf Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Thu, 14 Mar 2024 08:52:32 +0000 Subject: [PATCH 12/13] Revert "Use tree_->haltTree();" This reverts commit aa2cf204ebceb08251c2cc26700bba21e78a3758. --- opennav_coverage_bt/test/test_compute_coverage_path.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp index ed79d4c..20fb146 100644 --- a/opennav_coverage_bt/test/test_compute_coverage_path.cpp +++ b/opennav_coverage_bt/test/test_compute_coverage_path.cpp @@ -147,7 +147,7 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick) EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->haltTree(); + tree_->rootNode()->haltNode(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); } From 1934a78577f9f983ee71e18b9ae07506044de3c4 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Thu, 14 Mar 2024 08:52:35 +0000 Subject: [PATCH 13/13] Revert "Revert "Use tree_->haltTree();"" This reverts commit 668abc4318404d3d0ccce9a0aa92e08b3f089aaf. --- opennav_coverage_bt/test/test_compute_coverage_path.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opennav_coverage_bt/test/test_compute_coverage_path.cpp b/opennav_coverage_bt/test/test_compute_coverage_path.cpp index 20fb146..ed79d4c 100644 --- a/opennav_coverage_bt/test/test_compute_coverage_path.cpp +++ b/opennav_coverage_bt/test/test_compute_coverage_path.cpp @@ -147,7 +147,7 @@ TEST_F(ComputeCoveragePathActionTestFixture, test_tick) EXPECT_EQ(path.poses[1].pose.position.x, 1.0); // halt node so another goal can be sent - tree_->rootNode()->haltNode(); + tree_->haltTree(); EXPECT_EQ(tree_->rootNode()->status(), BT::NodeStatus::IDLE); }