t06_subtree_port_remapping.cpp

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#include "behaviortree_cpp_v3/loggers/bt_cout_logger.h"
#include "behaviortree_cpp_v3/bt_factory.h"
 
#include "movebase_node.h"
#include "dummy_nodes.h"
 
// clang-format off
 
static const char* xml_text = R"(
<root main_tree_to_execute = "MainTree">
 
    <BehaviorTree ID="MainTree">
 
        <Sequence name="main_sequence">
            <SetBlackboard output_key="move_goal" value="1;2;3" />
            <SubTree ID="MoveRobot" target="move_goal" output="move_result" />
            <SaySomething message="{move_result}"/>
        </Sequence>
 
    </BehaviorTree>
 
    <BehaviorTree ID="MoveRobot">
        <Fallback name="move_robot_main">
            <SequenceStar>
                <MoveBase       goal="{target}"/>
                <SetBlackboard output_key="output" value="mission accomplished" />
            </SequenceStar>
            <ForceFailure>
                <SetBlackboard output_key="output" value="mission failed" />
            </ForceFailure>
        </Fallback>
    </BehaviorTree>
 
</root>
 )";
 
// clang-format on
 
using namespace BT;
using namespace DummyNodes;
 
int main()
{
  BehaviorTreeFactory factory;
 
  factory.registerNodeType<SaySomething>("SaySomething");
  factory.registerNodeType<MoveBaseAction>("MoveBase");
 
  auto tree = factory.createTreeFromText(xml_text);
 
  tree.tickRootWhileRunning();
 
  // let's visualize some information about the current state of the blackboards.
  std::cout << "--------------" << std::endl;
  tree.blackboard_stack[0]->debugMessage();
  std::cout << "--------------" << std::endl;
  tree.blackboard_stack[1]->debugMessage();
  std::cout << "--------------" << std::endl;
 
  return 0;
}
 
/* Expected output:
 
    [ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
    [ MoveBase: FINISHED ]
    Robot says: mission accomplished
    --------------
    move_result (std::string) -> full
    move_goal (Pose2D) -> full
    --------------
    output (std::string) -> remapped to parent [move_result]
    target (Pose2D) -> remapped to parent [move_goal]
    --------------
 
*/