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Export plugins to share directory & register CrossDoor plugin #804

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merged 2 commits into from
Aug 28, 2024
Merged

Export plugins to share directory & register CrossDoor plugin #804

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6e3ba41
Export plugins to share directory & register CrossDoor plugin
MarqRazz Apr 12, 2024
6b3528f
Merge remote-tracking branch 'origin/master' into crossdoor_plugin_ex…
MarqRazz Apr 12, 2024
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12 changes: 12 additions & 0 deletions sample_nodes/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -33,3 +33,15 @@ target_link_libraries(movebase_node_dyn PRIVATE ${BTCPP_LIBRARY})
target_compile_definitions(movebase_node_dyn PRIVATE BT_PLUGIN_EXPORT )
set_target_properties(movebase_node_dyn PROPERTIES LIBRARY_OUTPUT_DIRECTORY
${BTCPP_BIN_DESTINATION} )

######################################################
# INSTALL plugins for other packages to load

INSTALL(TARGETS
crossdoor_nodes_dyn
dummy_nodes_dyn
movebase_node_dyn
LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
)
8 changes: 8 additions & 0 deletions sample_nodes/crossdoor_nodes.cpp
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Expand Up @@ -74,3 +74,11 @@ void CrossDoor::reset()
_door_locked = true;
_pick_attempts = 0;
}

// This function must be implemented in the .cpp file to create
// a plugin that can be loaded at run-time
BT_REGISTER_NODES(factory)
{
static CrossDoor cross_door;
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Can you think of a better pattern to show here that keeps this object in scope (same thing here)? I plan to make lots of Behaviors that share objects (to keep them from being duplicated across multiple behaviors in the tree) and feel like there might be a better way than making them static.

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actually, I don't believe this is a good pattern. You should probably create the object "outside" and pass it as an argument.

Let me think about it and propose a different pattern

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To continue with my general executor I'm proposing here I think we would need the option to transfer the ownership to the factory, or something else within BT.CPP, to keep if from requiring prior knowledge of objects the Behaviors need while loading plugins.

I'm not sure how similar this situation is but one pattern that comes to mind is in MTC. When assembling tasks you create an object to store stages and then add/move unique pointers the user creates to it.

cross_door.registerNodes(factory);
}
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