renaming

Author: facontidavide

behaviortree_ros2/include/behaviortree_ros2/bt_utils.hpp

@@ -28,55 +28,61 @@
 #include "rclcpp/rclcpp.hpp"
 #include <ament_index_cpp/get_package_share_directory.hpp>
 
-namespace action_server_bt
+namespace BT
 {
 /**
  * @brief Convert BT::NodeStatus into Action Server feedback message NodeStatus
+ *
  * @param status Current status of the executing BehaviorTree
  * @return NodeStatus used to publish feedback to the Action Client
  */
-btcpp_ros2_interfaces::msg::NodeStatus convert_node_status(BT::NodeStatus& status);
+btcpp_ros2_interfaces::msg::NodeStatus ConvertNodeStatus(BT::NodeStatus& status);
 
 /**
  * @brief Function the uses ament_index_cpp to get the package path of the parameter specified by the user
+ *
  * @param parameter_value String containing 'package_name/subfolder' for the directory path to look up
  * @return Full path to the directory specified by the parameter_value
  */
-std::string get_directory_path(const std::string& parameter_value);
+std::string GetDirectoryPath(const std::string& parameter_value);
 
 /**
  * @brief Function to load BehaviorTree xml files from a specific directory
+ *
  * @param factory BehaviorTreeFactory to register the BehaviorTrees into
  * @param directory_path Full path to the directory to search for BehaviorTree definitions
  */
-void load_behavior_trees(BT::BehaviorTreeFactory& factory,
-                         const std::string& directory_path);
+void LoadBehaviorTrees(BT::BehaviorTreeFactory& factory,
+                       const std::string& directory_path);
 
 /**
  * @brief Function to load BehaviorTree plugins from a specific directory
+ *
  * @param factory BehaviorTreeFactory to register the plugins into
  * @param directory_path Full path to the directory to search for BehaviorTree plugins
  */
-void load_plugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path);
+void LoadPlugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path);
 
 /**
  * @brief Function to load BehaviorTree ROS plugins from a specific directory
+ *
  * @param factory BehaviorTreeFactory to register the plugins into
  * @param directory_path Full path to the directory to search for BehaviorTree plugins
  * @param node node pointer that is shared with the ROS based BehaviorTree plugins
  */
-void load_ros_plugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path,
-                      rclcpp::Node::SharedPtr node);
+void LoadRosPlugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path,
+                    rclcpp::Node::SharedPtr node);
 
 /**
  * @brief Function to register all Behaviors and BehaviorTrees from user specified packages
+ *
  * @param params ROS parameters that contain lists of packages to load
  * plugins, ros_plugins and BehaviorTrees from
  * @param factory BehaviorTreeFactory to register into
  * @param node node pointer that is shared with the ROS based Behavior plugins
  */
-void register_behavior_trees(action_server_bt::Params& params,
-                             BT::BehaviorTreeFactory& factory,
-                             rclcpp::Node::SharedPtr node);
+void RegisterBehaviorTrees(action_server_bt::Params& params,
+                           BT::BehaviorTreeFactory& factory,
+                           rclcpp::Node::SharedPtr node);
 
-}  // namespace action_server_bt
+}  // namespace BT

behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp

@@ -21,34 +21,34 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 
-namespace action_server_bt
+namespace BT
 {
 
 /**
- * @brief ActionServerBT class hosts a ROS Action Server that is able
+ * @brief TreeExecutionServer class hosts a ROS Action Server that is able
  * to load Behavior plugins, BehaviorTree.xml files and execute them.
  */
-class ActionServerBT
+class TreeExecutionServer
 {
 public:
   using ExecuteTree = btcpp_ros2_interfaces::action::ExecuteTree;
   using GoalHandleExecuteTree = rclcpp_action::ServerGoalHandle<ExecuteTree>;
 
   /**
-   * @brief Constructor for ActionServerBT.
+   * @brief Constructor for TreeExecutionServer.
    * @details This initializes a ParameterListener to read configurable options from the user and
    * starts an Action Server that takes requests to execute BehaviorTrees.
    *
    * @param options rclcpp::NodeOptions to pass to node_ when initializing it.
    * after the tree is created, while its running and after it finishes.
    */
-  explicit ActionServerBT(const rclcpp::NodeOptions& options);
+  explicit TreeExecutionServer(const rclcpp::NodeOptions& options);
 
-  virtual ~ActionServerBT();
+  virtual ~TreeExecutionServer();
 
   /**
    * @brief Gets the NodeBaseInterface of node_.
-   * @details This function exists to allow running ActionServerBT as a component in a composable node container.
+   * @details This function exists to allow running TreeExecutionServer as a component in a composable node container.
    *
    * @return A shared_ptr to the NodeBaseInterface of node_.
    */
@@ -64,22 +64,28 @@ class ActionServerBT
   BT::Blackboard::Ptr globalBlackboard();
 
 protected:
-  // To be overridden by the user.
-  // Callback invoked when the tree is created and before it is executed,
-  // Can be used to update the blackboard or to attach loggers.
+  /**
+   * @brief Callback invoked after the tree is created.
+   * It can be used, for instance, to initialize a logger or the global blackboard.
+   *
+   * @param tree The tree that was created
+  */
   virtual void onTreeCreated(BT::Tree& tree)
   {}
 
-  // To be overridden by the user.
-  // In addition to the built in mechanism to register nodes from plugins,
-  // you can use this method to register custom nodes into the factory.
+  /**
+   * @brief registerNodesIntoFactory is a callback invoked after the
+   * plugins were registered into the BT::BehaviorTreeFactory.
+   * It can be used to register additional custom nodes manually.
+   *
+   * @param factory The factory to use to register nodes
+  */
   virtual void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory)
   {}
 
-  // To be overridden by the user.
-  // Callback invoked after the tickOnce.
-  // If it returns something different than std::nullopt, the tree execution will
-  // be halted and the returned value will be the optional NodeStatus.
+  /**
+   * @brief onLoopAfterTick invoked after the tree is created and before the tree is executed.
+  */
   virtual std::optional<BT::NodeStatus> onLoopAfterTick(BT::NodeStatus status)
   {
     return std::nullopt;
@@ -129,4 +135,4 @@ class ActionServerBT
   void execute(const std::shared_ptr<GoalHandleExecuteTree> goal_handle);
 };
 
-}  // namespace action_server_bt
+}  // namespace BT

behaviortree_ros2/src/bt_executor_parameters.yaml

@@ -1,7 +1,7 @@
 action_server_bt:
   action_name: {
     type: string,
-    default_value: "action_server_bt",
+    default_value: "bt_action_server",
     read_only: true,
     description: "The name the Action Server takes requests from",
   }

behaviortree_ros2/src/bt_utils.cpp

@@ -15,13 +15,13 @@
 
 namespace
 {
-static const auto kLogger = rclcpp::get_logger("action_server_bt");
+static const auto kLogger = rclcpp::get_logger("bt_action_server");
 }
 
-namespace action_server_bt
+namespace BT
 {
 
-btcpp_ros2_interfaces::msg::NodeStatus convert_node_status(BT::NodeStatus& status)
+btcpp_ros2_interfaces::msg::NodeStatus ConvertNodeStatus(BT::NodeStatus& status)
 {
   btcpp_ros2_interfaces::msg::NodeStatus action_status;
   switch(status)
@@ -41,7 +41,7 @@ btcpp_ros2_interfaces::msg::NodeStatus convert_node_status(BT::NodeStatus& statu
   return action_status;
 }
 
-std::string get_directory_path(const std::string& parameter_value)
+std::string GetDirectoryPath(const std::string& parameter_value)
 {
   std::string package_name, subfolder;
   auto pos = parameter_value.find_first_of("/");
@@ -70,8 +70,8 @@ std::string get_directory_path(const std::string& parameter_value)
   return "";
 }
 
-void load_behavior_trees(BT::BehaviorTreeFactory& factory,
-                         const std::string& directory_path)
+void LoadBehaviorTrees(BT::BehaviorTreeFactory& factory,
+                       const std::string& directory_path)
 {
   using std::filesystem::directory_iterator;
   for(const auto& entry : directory_iterator(directory_path))
@@ -92,7 +92,7 @@ void load_behavior_trees(BT::BehaviorTreeFactory& factory,
   }
 }
 
-void load_plugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path)
+void LoadPlugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path)
 {
   using std::filesystem::directory_iterator;
   for(const auto& entry : directory_iterator(directory_path))
@@ -113,8 +113,8 @@ void load_plugins(BT::BehaviorTreeFactory& factory, const std::string& directory
   }
 }
 
-void load_ros_plugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path,
-                      rclcpp::Node::SharedPtr node)
+void LoadRosPlugins(BT::BehaviorTreeFactory& factory, const std::string& directory_path,
+                    rclcpp::Node::SharedPtr node)
 {
   using std::filesystem::directory_iterator;
   BT::RosNodeParams params;
@@ -137,37 +137,36 @@ void load_ros_plugins(BT::BehaviorTreeFactory& factory, const std::string& direc
   }
 }
 
-void register_behavior_trees(action_server_bt::Params& params,
-                             BT::BehaviorTreeFactory& factory,
-                             rclcpp::Node::SharedPtr node)
+void RegisterBehaviorTrees(action_server_bt::Params& params,
+                           BT::BehaviorTreeFactory& factory, rclcpp::Node::SharedPtr node)
 {
   // clear the factory and load/reload it with the Behaviors and Trees specified by the user in their action_server_bt config yaml
   factory.clearRegisteredBehaviorTrees();
 
   for(const auto& plugin : params.plugins)
   {
-    const auto plugin_directory = get_directory_path(plugin);
+    const auto plugin_directory = GetDirectoryPath(plugin);
     // skip invalid plugins directories
     if(plugin_directory.empty())
       continue;
-    load_plugins(factory, plugin_directory);
+    LoadPlugins(factory, plugin_directory);
   }
   for(const auto& plugin : params.ros_plugins)
   {
-    const auto plugin_directory = get_directory_path(plugin);
+    const auto plugin_directory = GetDirectoryPath(plugin);
     // skip invalid plugins directories
     if(plugin_directory.empty())
       continue;
-    load_ros_plugins(factory, plugin_directory, node);
+    LoadRosPlugins(factory, plugin_directory, node);
   }
   for(const auto& tree_dir : params.behavior_trees)
   {
-    const auto tree_directory = get_directory_path(tree_dir);
+    const auto tree_directory = GetDirectoryPath(tree_dir);
     // skip invalid subtree directories
     if(tree_directory.empty())
       continue;
-    load_behavior_trees(factory, tree_directory);
+    LoadBehaviorTrees(factory, tree_directory);
   }
 }
 
-}  // namespace action_server_bt
+}  // namespace BT