[behavior_tree] Add generate_nav2_tree_nodes_xml #4073
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| // This was automativally generated by cmake | ||
| namespace nav2::details | ||
| { | ||
| const char* BT_BUILTIN_PLUGINS = "@plugin_libs@"; | ||
| } |
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| // Copyright (c) 2024 Davide Faconti | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. Reserved. | ||
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| #include <vector> | ||
| #include <string> | ||
| #include <fstream> | ||
| #include <boost/algorithm/string.hpp> | ||
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| #include "behaviortree_cpp_v3/behavior_tree.h" | ||
| #include "behaviortree_cpp_v3/bt_factory.h" | ||
| #include "behaviortree_cpp_v3/utils/shared_library.h" | ||
| #include "behaviortree_cpp_v3/xml_parsing.h" | ||
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| #include "plugins_list.hpp" | ||
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| int main() | ||
| { | ||
| BT::BehaviorTreeFactory factory; | ||
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| std::vector<std::string> plugins_list; | ||
| boost::split(plugins_list, nav2::details::BT_BUILTIN_PLUGINS, boost::is_any_of(";")); | ||
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| for (const auto & plugin : plugins_list) { | ||
| std::cout << "Loading: " << plugin << "\n"; | ||
| factory.registerFromPlugin(BT::SharedLibrary::getOSName(plugin)); | ||
| } | ||
| std::cout << "\nGenerating file: nav2_tree_nodes.xml\n" | ||
| << "\nCompare it with the one in the git repo and update the latter if necessary.\n"; | ||
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| std::ofstream xml_file; | ||
| xml_file.open("nav2_tree_nodes.xml"); | ||
| xml_file << BT::writeTreeNodesModelXML(factory) << std::endl; | ||
| xml_file.close(); | ||
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| return 0; | ||
| } | ||
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I assume this is automatically executed on build? The quick look at
configure_filedoesn't make me think i does, but I assume it does or else this workflow would add extra stepsI think this filename is misleading, its not generating the XML but just storing the index of default Nav2-included BT nodes. How about
generate_nav2_node_list.cpp?There was a problem hiding this comment.
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it is literally creating an XML with
std::ofstream... but I can change the name, of course.No, it is not. The developer modifying a BT Node should run it and overwrite the previous XML with the new one.
But right now it is even worse, because we are asking to write the XML by hand and there is no guaranty of consistency (as a demonstration, right now it is WRONG in the main branch)
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That step ("double check if nav2_tree_node.xml is still valid") is there, but people just forget to do it.
This approach lowers the effort.
Maybe I can find a way to run it automatically, I don't know...
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Oh, then this should be removed. You cannot expect the CI system or users to run some script just to get their systems working or unit tests compiling. This doesn't work for CI nor a reasonable developer workflow.
If this was autogenerated, then I love it! But it has to be executed somewhere.
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Sorry, there is a misunderstanding from my side and maybe I answered something wrong
CI, user code and unit test will work just fine!!!
The file that is autogenerated is
plugin_list.hpp. That is everything you need.What I am talking about is the file nav2_tree_node.xml , that only Groot2 requires.
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Oh ok. So this does generate the index that the
plugins_listneeds for the BT test + BT navigator. Cool then this works.Now you got confused by this utility's name 😉 Rename suggestion to
generate_nav2_node_list.cppFTW