finishing merge

Author: jocacace

.gitignore

@@ -1,36 +1 @@
-<<<<<<< HEAD
 .deps/*
-=======
-# Prerequisites
-*.d
-
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
->>>>>>> btros2-fork/humble

README.md

@@ -60,7 +60,6 @@ Our main goals are:
 - to minimize the amount of boilerplate.
 - to make asynchronous Actions non-blocking.
 
-<<<<<<< HEAD
 It uses [behaviortree_eut_plugins](https://ice.eurecat.org/gitlab/robotics-automation/behavior_tree_eut_plugins) for augmenting its original [public version](https://github.com/BehaviorTree/BehaviorTree.ROS2.git) with custom serialization and deserialization policies, providing out of the box json one, essentially adding the following plugins templates to be used with a one-liner:
 
 Plugin Template | Deserialization Policy | Serialization Policy | Extra Pre/Post processing 
@@ -149,9 +148,6 @@ Note that you can specialize some functions for specific MessageType `T` in the
 # Examples
 
 # Further Documentation
-=======
-# Documentation
->>>>>>> btros2-fork/humble
 
 - [ROS Behavior Wrappers](behaviortree_ros2/ros_behavior_wrappers.md)
 - [TreeExecutionServer](behaviortree_ros2/tree_execution_server.md)
@@ -160,15 +156,9 @@ Note that you can specialize some functions for specific MessageType `T` in the
 Note that this library is compatible **only** with:
 
 - **BT.CPP** 4.6 or newer.
-<<<<<<< HEAD
 - **ROS2** Humble or Jazzy.
 
 Additionally, check **plugins.hpp** and **plugins.cpp** to see how to learn how to
-=======
-- **ROS2** Humble or newer.
-
-Additionally, check **plugins.hpp** to see how to learn how to
->>>>>>> btros2-fork/humble
 wrap your Nodes into plugins that can be loaded at run-time.
 
 

behaviortree_ros2/CMakeLists.txt

@@ -4,18 +4,14 @@ project(behaviortree_ros2)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-<<<<<<< HEAD
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 add_compile_options(-fPIC)
 
-=======
->>>>>>> btros2-fork/humble
 set(THIS_PACKAGE_DEPS
     rclcpp
     rclcpp_action
     ament_index_cpp
     behaviortree_cpp
-<<<<<<< HEAD
     behaviortree_eut_plugins
     btcpp_ros2_interfaces
     generate_parameter_library
@@ -27,10 +23,6 @@ set(THIS_PACKAGE_DEPS
     tf2
     tf2_geometry_msgs
     tf2_ros
-=======
-    btcpp_ros2_interfaces
-    generate_parameter_library
->>>>>>> btros2-fork/humble
     )
 
 find_package(ament_cmake REQUIRED)
@@ -39,10 +31,6 @@ foreach(PACKAGE ${THIS_PACKAGE_DEPS})
     find_package(${PACKAGE} REQUIRED )
 endforeach()
 
-<<<<<<< HEAD
-=======
-
->>>>>>> btros2-fork/humble
 generate_parameter_library(
     bt_executor_parameters
     src/bt_executor_parameters.yaml)
@@ -60,7 +48,6 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 
 target_link_libraries(${PROJECT_NAME}  bt_executor_parameters)
 
-<<<<<<< HEAD
 # Executable to generate xml from .so plugin for "simple" and ros2 based bt plugins .so
 add_executable(bt_ros_plugins_to_xml         src/tools/bt_ros_plugins_to_xml.cpp )
 include_directories(${behaviortree_cpp_INCLUDE_DIRS} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
@@ -74,18 +61,13 @@ target_include_directories(${PROJECT_NAME}_nodemodels PRIVATE
 target_compile_definitions(${PROJECT_NAME}_nodemodels PRIVATE  BT_PLUGIN_EXPORT )
 ament_target_dependencies(${PROJECT_NAME}_nodemodels ${THIS_PACKAGE_DEPS})
 
-=======
->>>>>>> btros2-fork/humble
 
 ######################################################
 # INSTALL
 
-<<<<<<< HEAD
 install(TARGETS bt_ros_plugins_to_xml
         DESTINATION lib/${PROJECT_NAME} )
 
-=======
->>>>>>> btros2-fork/humble
 install(DIRECTORY include/  DESTINATION include/)
 
 ament_export_targets(${PROJECT_NAME}Targets  HAS_LIBRARY_TARGET)
@@ -98,7 +80,6 @@ install(
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME})
 
-<<<<<<< HEAD
 # Recover subfolder path for plugins
 execute_process(
     COMMAND bash -c "xmllint --xpath 'string(//description/plugins/@folder_path)' plugins_description.xml | awk '{print \$1\}'"
@@ -148,8 +129,6 @@ ament_index_register_resource(
   CONTENT_FILE "${CMAKE_CURRENT_SOURCE_DIR}/palettes_description.xml"
 )
 
-=======
->>>>>>> btros2-fork/humble
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 

behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp

@@ -546,7 +546,6 @@ inline void RosActionNode<T>::cancelGoal()
 
   auto& action_client = client_instance_->action_client;
 
-<<<<<<< HEAD
   try
   {
     auto future_result = action_client->async_get_result(goal_handle_);
@@ -572,23 +571,6 @@ inline void RosActionNode<T>::cancelGoal()
   }
   catch(const std::exception& ex) {
     RCLCPP_ERROR(logger(), "Exception while canceling goal: %s", ex.what());
-=======
-  auto future_result = action_client->async_get_result(goal_handle_);
-  auto future_cancel = action_client->async_cancel_goal(goal_handle_);
-
-  constexpr auto SUCCESS = rclcpp::FutureReturnCode::SUCCESS;
-
-  if(executor.spin_until_future_complete(future_cancel, server_timeout_) != SUCCESS)
-  {
-    RCLCPP_ERROR(logger(), "Failed to cancel action server for [%s]",
-                 action_name_.c_str());
-  }
-
-  if(executor.spin_until_future_complete(future_result, server_timeout_) != SUCCESS)
-  {
-    RCLCPP_ERROR(logger(), "Failed to get result call failed :( for [%s]",
-                 action_name_.c_str());
->>>>>>> btros2-fork/humble
   }
 }