(roseus_bt) Use SubTreePlus instead of SubTree

jsk-ros-pkg · Nov 25, 2022 · a1bde75 · a1bde75
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Showing 5 changed files with 15 additions and 14 deletions.
diff --git a/roseus_bt/include/roseus_bt/xml_parser.h b/roseus_bt/include/roseus_bt/xml_parser.h
@@ -164,6 +164,7 @@ void XMLParser::check_xml_file(std::string filename) {
         name != "RemoteCondition" &&
         name != "Subscriber" &&
         name != "RemoteSubscriber" &&
+        name != "SubTreePlus" &&
         name != "SubTree") {
       throw XMLError::UnknownNode(node);
     }

diff --git a/roseus_bt/sample/README.md b/roseus_bt/sample/README.md
@@ -148,7 +148,7 @@ rosrun groot Groot
 
 The fifth example https://github.com/Affonso-Gui/jsk_roseus/blob/roseus_bt/roseus_bt/sample/models/t05_subtrees.xml wraps up the previous task in a subtree and adds another example task.
 
-Nested trees can be defined with multiple `<BehaviorTree/>` tags and referenced with the `<SubTree/>` tag.
+Nested trees can be defined with multiple `<BehaviorTree/>` tags and referenced with the `<SubTree/>` or `<SubTreePlus/>` tag. The `<SubTreePlus/>` allows for passing both port mappings and/or static values to the subtree, and should be generally preferred over the `<SubTree/>` notation.
 
 Each subtree inherits a separate blackboard and accepts remaps in the `inner_name="outer_name"` syntax.
 

diff --git a/roseus_bt/sample/models/t05_subtrees.xml b/roseus_bt/sample/models/t05_subtrees.xml
@@ -6,8 +6,8 @@
             <Action ID="InitWithBroom" name="Initialize Task"/>
             <Action ID="setCoords" name="setBottleCoords" coords="${bottle_coords}"/>
             <Sequence>
-                <SubTree ID="PourTask" coords="bottle_coords"/>
-                <SubTree ID="SweepTask"/>
+                <SubTreePlus ID="PourTask" coords="bottle_coords"/>
+                <SubTreePlus ID="SweepTask"/>
             </Sequence>
         </SequenceStar>
     </BehaviorTree>
@@ -37,8 +37,8 @@
     </BehaviorTree>
     <!-- ////////// -->
     <TreeNodesModel>
-        <SubTree ID="PourTask"/>
-        <SubTree ID="SweepTask"/>
+        <SubTreePlus ID="PourTask"/>
+        <SubTreePlus ID="SweepTask"/>
 
         <Action ID="InitWithBroom" server_name="/t05_subtrees/init"/>
         <Action ID="MoveTo" server_name="/t05_subtrees/moveto">

diff --git a/roseus_bt/sample/models/t06_reactive.xml b/roseus_bt/sample/models/t06_reactive.xml
@@ -9,9 +9,9 @@
             <Sequence>
                 <ReactiveFallback>
                     <Condition ID="CheckTrue" value="${needs_drink}" name="NeedsDrink"/>
-                    <SubTree ID="SweepTask"/>
+                    <SubTreePlus ID="SweepTask"/>
                 </ReactiveFallback>
-                <SubTree ID="PourTask" coords="bottle_coords"/>
+                <SubTreePlus ID="PourTask" coords="bottle_coords"/>
             </Sequence>
         </SequenceStar>
     </BehaviorTree>
@@ -39,10 +39,10 @@
     </BehaviorTree>
     <!-- ////////// -->
     <TreeNodesModel>
-        <SubTree ID="PourTask">
+        <SubTreePlus ID="PourTask">
             <input_port default="bottle_coords" name="coords" type=""/>
-        </SubTree>
-        <SubTree ID="SweepTask"/>
+        </SubTreePlus>
+        <SubTreePlus ID="SweepTask"/>
 
         <Action ID="InitWithBroom" server_name="/t06_reactive/init"/>
         <Action ID="MoveTo" server_name="/t06_reactive/moveto">

diff --git a/roseus_bt/sample/models/t07_xacro.xml.xacro b/roseus_bt/sample/models/t07_xacro.xml.xacro
@@ -14,8 +14,8 @@
             <Action ID="InitWithBroom" name="Initialize Task"/>
             <Action ID="setCoords" name="setBottleCoords" coords="$${bottle_coords}"/>
             <Sequence>
-                <SubTree ID="PourTask" coords="bottle_coords"/>
-                <SubTree ID="SweepTask"/>
+                <SubTreePlus ID="PourTask" coords="bottle_coords"/>
+                <SubTreePlus ID="SweepTask"/>
             </Sequence>
         </SequenceStar>
     </BehaviorTree>
@@ -25,8 +25,8 @@
     <xacro:sweep_task.generate_bt ID="SweepTask"/>
     <!-- ////////// -->
     <TreeNodesModel>
-        <SubTree ID="PourTask"/>
-        <SubTree ID="SweepTask"/>
+        <SubTreePlus ID="PourTask"/>
+        <SubTreePlus ID="SweepTask"/>
 
         <Action ID="InitWithBroom" server_name="${namespace}/init"/>
         <Action ID="setCoords" server_name="${namespace}/setcoords">