forester-bt / forester Goto Github PK

Make the package in ROS2 repo to allow running Forester trees.
http://wiki.ros.org/Implementing%20Client%20Libraries

For now, there is only smoke tests everywhere.

Transform to BehaviorTree.CPP using xml.

The behavior3editor allows exporting and importing the sets using JSON format.
It needs to transform to the format

• To avoid creating files.
• To allow creating definitions on a fly

It allows checking before running and ensures that all actions have the implementation.
It will enable to stub with default and make the sim profile optional in cmd

A way to allow an interaction between ros and Forester in runtime.

https://github.com/matthias-mayr/SkiREIL

Currently, the messages can have the following chain in invocations:

impl x(a:string)

...
x(a = b)
...

Where b is a pointer to another place to get a string.

It needs to add a support for that in bb

Async thread - a queue that accepts a task that modifies a runtime tree.
It applies on the next tick

The runtime tree does not have the information on what file is a source for the invocation.

• iterators (bfs)
• to find or replace components
• find by

• validation that a subtree is complete ( the subtree does not have nodes that don't connect to the root. )

• root does not coincide to the root of the subtree

Add a possibility to work distributedly:

• broker as a communication tool for servers and actions
• have several servers to compute

Eliminate the control node when it has only one child.

sequence useless { 
    child()
}

Something like final
On the other hand, it is unclear if:

• the replacement of the parent of a final node, will it be forbidden to replace the parent?
• do we need to introduce the non-final analogue?

https://arxiv.org/pdf/2209.14045.pdf

impl task(idx:num);
sequence wrapper(idx:num) task(idx)

and task gets idx as a 'Pointer' but should get a literal

Example

A planner where the GP can change the BT tree represents a planner.

Link: https://arxiv.org/abs/2103.09036

Could you please share some comparisons with bonsai https://github.com/Sollimann/bonsai? I am looking for a long-term solution and am keen to know where my use cases are fitter.

using rust builder

Add protocol and ability to implement action remotely using grpc or http
Apparently for that we need to expose some API for bb tracer trimmer

Verifying Temporal Logic Specifications for Behavior Trees

Possibility to validate and verify the BT using Temporal specification.

To from xml.
Special import std::ros2
Task in the plugin
Task in the cmd

• https://navigation.ros.org/behavior_trees/overview/nav2_specific_nodes.html#action-nodes
• https://github.com/ros-planning/moveit2

Based on the paper 'Combining Context Awareness and Planning to Learn Behavior Trees from Demonstration'

Add a validation if the tree a parallel then all leaves should be ImplAsync

To get the ability to replace some of the subtrees in runtime?

Retecst and fix if it does not work:

bb.put("a", Pointer("a"));
bb.put("b", Pointer(a));

root main action(b)

impl action(v:string); // <- should get eventually "a"

Control Barrier Functions

There is no distributed persistent memory for BB in Forester.
Apparently, we need to add the possibility of using the following options:

• in-memory BB
• file-based BB
• db/cache based BB

Plugin
F-tree

Currently a book does not have a graphviz-preprocessor

Move it up, so runtime tree doe not need to carry it all time