Failed to get question list, you can ticket an issue [ here
](https://github.com/ros-infrastructure/rosindex/issues/new)


edited


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


  * Store IDL message definitions in Schema records when no MSG definition is available ( [ #43 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/43) )
  * Contributors: James Smith


Ah - I see. I would say that - those keys those are implementation details of
the Storage Implementation and need to stay fully hidden within the storage
plugin, never to be exposed. What you're looking at there is, I think,
misleading from the real data definition:


Followup note: was the former case something that ` rosbag ` for ROS 1
supported?

---

All reactions


[ rosbag2_storage_mcap ](/ros-
tooling/rosbag2_storage_mcap/tree/main/rosbag2_storage_mcap
"rosbag2_storage_mcap")


#  rosbag2_storage_mcap


  * Support service 2/2 --- rosbag2 service play ( [ #1481 ](https://github.com/ros2/rosbag2/issues/1481) )
  * Use middleware send and receive timestamps from message_info during recording ( [ #1531 ](https://github.com/ros2/rosbag2/issues/1531) )
  * Update to use yaml-cpp version 0.8.0. ( [ #1605 ](https://github.com/ros2/rosbag2/issues/1605) )
  * Check existence of a file before passing it to the mcap reader ( [ #1594 ](https://github.com/ros2/rosbag2/issues/1594) )
  * Contributors: Barry Xu, Chris Lalancette, Christopher Wecht, jmachowinski, Michael Orlov


**[ emersonknapp ](/emersonknapp) ** commented  Apr 7, 2021  •


This package provides a [ storage plugin
](https://github.com/ros2/rosbag2#storage-format-plugin-architecture) for
rosbag2 which extends it with support for the [ MCAP ](https://mcap.dev) file
format.


Reading Emerson's comment at [ here
](https://github.com/ros2/rosbag2/pull/709#discussion_r611110847) , perhaps we
should make some clearer definitions for each of the operations that the
converter can perform?


##  0.2.0 (2022-09-08)


rosbag2 storage implementation for MCAP file format


* Product


**[ danthony06 ](/danthony06) ** commented  Apr 9, 2021


  * Link and compile against rosbag2_storage_mcap: Fixed issue 1492 ( [ #1496 ](https://github.com/ros2/rosbag2/issues/1496) ) ( [ #1498 ](https://github.com/ros2/rosbag2/issues/1498) )
  * Contributors: mergify[bot]


> you are referring to the "stitcher" that is under development


This package was recently merged into [ https://github.com/ros2/rosbag2
](https://github.com/ros2/rosbag2/tree/humble/rosbag2_storage_mcap/ros2/rosbag2)
from [ https://github.com/ros-tooling/rosbag2_storage_mcap
](https://github.com/ros2/rosbag2/tree/humble/rosbag2_storage_mcap/ros-
tooling/rosbag2_storage_mcap) . To view historical pull requests and git
history of this package, check [ here ](https://github.com/ros-
tooling/rosbag2_storage_mcap/commits/main) .


I think that the functionality that you describe in this section is pretty
much what we should go for, however I would like to add that the converter
should be able to warn the user if a 1:1 conversion is not possible. For
instance, if the existing bag has keys stored that the new bag can't store,
the converter should warn that some keys will be lost, and then list them.
Similarly, if the new bag has keys that the existing bag didn't have, it
should create the bag with some sort of default values for those new keys, but
then warn the user that it had to create defaults for those keys.


  * ` rosbag2_storage::StorageOptions `
  * ` rosbag2_transport::RecordOptions `


_No launch files found_


  * [ github-ros2-rosbag2 ](/p/rosbag2_storage_mcap/github-ros2-rosbag2)
  * [ github-ros-tooling-rosbag2_storage_mcap ](/p/rosbag2_storage_mcap/github-ros-tooling-rosbag2_storage_mcap)


Copy link


##  Stats


###  Messages


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


[ ](/ros-tooling/rosbag2_storage_mcap/commits/main/)

###


[
![@emersonknapp](https://avatars.githubusercontent.com/u/537409?s=80&u=df10fea87305edde062008566721a9968483fa56&v=4)
](/emersonknapp)


  * Add Michael Orlov as maintainer in rosbag2 packages ( [ #1215 ](https://github.com/ros2/rosbag2/issues/1215) ) ( [ #1224 ](https://github.com/ros2/rosbag2/issues/1224) )
  * Contributors: mergify[bot]


  * [ C++  87.8%  ](/ros-tooling/rosbag2_storage_mcap/search?l=c%2B%2B)
  * [ CMake  12.2%  ](/ros-tooling/rosbag2_storage_mcap/search?l=cmake)


rosbag2 storage plugin using the MCAP file format


    $ ros2 bag record -s mcap /topic1 /topic2 ...

    $ ros2 bag play -s mcap path/to/your_recording.mcap

    $ ros2 bag info -s mcap path/to/your_recording.mcap


    # Using the MCAP CLI https://github.com/foxglove/mcap/tree/main/go/cli/mcap
    $ mcap compress fast.mcap -o compressed.mcap
    # Using `ros2 bag convert`
    $ cat << EOF > convert.yaml
    output_bags:
      - uri: compressed
        storage_id: mcap
        storage_preset_profile: zstd_small
    EOF
    $ ros2 bag convert -i fast.mcap -o convert.yaml


To build ` rosbag2_storage_mcap ` from source:


Cancel  Create saved search


  * CMake build script will now execute pip install conan automatically.
  * Contributors: Daisuke Nishimatsu


  * set defaults for SQLite plugin parity ( [ #68 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/68) )
  * rosbag2_storage_mcap: add storage preset profiles ( [ #57 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/57) )
  * rename test_fixture_interfaces package to testdata ( [ #64 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/64) )
  * Switch to using the vendored zstd library. ( [ #59 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/59) )
  * Add set_read_order reader API ( [ #54 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/54) )
  * Contributors: Chris Lalancette, Emerson Knapp, James Smith


###  Writer Configuration


##  0.15.6 (2023-06-05)


$ ros2 bag record -s mcap -o my_bag --all --storage-preset-profile fastwrite


[ rosbag2_storage_mcap ](/ros-
tooling/rosbag2_storage_mcap/tree/main/rosbag2_storage_mcap
"rosbag2_storage_mcap")


Using MCAPs written with ` fastwrite ` as a long-term storage format is not
recommended. Some features will not work when reading MCAP files without a
message index, such as reading messages from a subset of topics or seeking.
When recording MCAPs on your robot with ` fastwrite ` , it is a good idea to
post-process these files afterwards, to restore the message index and also
save storage space:


I am interested in viewing the data recorded as text files, but the .db3
SQLite3 file inside the bag shows the data as BLOB (binary large object),
stating: ` Binary data cannot be viewed with the text editor ` .


##  0.1.3 (2022-04-20)


##  0.1.0 (2022-03-24)


##  Implementation Notes / Suggestions


###  Footer navigation


[ ![ROS Foxy version](https://img.shields.io/ros/v/foxy/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#foxy) [
![ROS Galactic
version](https://img.shields.io/ros/v/galactic/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#galactic)
[ ![ROS Humble
version](https://img.shields.io/ros/v/humble/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#humble) [
![ROS Rolling
version](https://img.shields.io/ros/v/rolling/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#rolling)


Deps  |  |  Name  |  [ ](/p/ament_cmake#foxy-deps) |  [ 1
](/packages/ament_cmake) |  [ ament_cmake ](/p/ament_cmake#foxy)
---|---|---
[ ](/p/ament_cmake_clang_format#foxy-deps) |  [ 1
](/packages/ament_cmake_clang_format) |  [ ament_cmake_clang_format
](/p/ament_cmake_clang_format#foxy)
[ ](/p/ament_cmake_gmock#foxy-deps) |  [ 1 ](/packages/ament_cmake_gmock) |  [
ament_cmake_gmock ](/p/ament_cmake_gmock#foxy)
[ ](/p/ament_lint_auto#foxy-deps) |  [ 1 ](/packages/ament_lint_auto) |  [
ament_lint_auto ](/p/ament_lint_auto#foxy)
[ ](/p/ament_lint_common#foxy-deps) |  [ 1 ](/packages/ament_lint_common) |  [
ament_lint_common ](/p/ament_lint_common#foxy)
[ ](/p/rcpputils#foxy-deps) |  [ 1 ](/packages/rcpputils) |  [ rcpputils
](/p/rcpputils#foxy)
[ ](/p/rosbag2_cpp#foxy-deps) |  [ 1 ](/packages/rosbag2_cpp) |  [ rosbag2_cpp
](/p/rosbag2_cpp#foxy)
[ ](/p/rosbag2_test_common#foxy-deps) |  [ 1 ](/packages/rosbag2_test_common)
|  [ rosbag2_test_common ](/p/rosbag2_test_common#foxy)
[ ](/p/std_msgs#foxy-deps) |  [ 2 ](/packages/std_msgs) |  [ std_msgs
](/p/std_msgs#foxy)
[ ](/p/rosbag2_storage_mcap_testdata#foxy-deps) |  [ 2
](/packages/rosbag2_storage_mcap_testdata) |  [ rosbag2_storage_mcap_testdata
](/p/rosbag2_storage_mcap_testdata#foxy)
[ ](/p/ament_index_cpp#foxy-deps) |  [ 1 ](/packages/ament_index_cpp) |  [
ament_index_cpp ](/p/ament_index_cpp#foxy)
[ ](/p/mcap_vendor#foxy-deps) |  [ 2 ](/packages/mcap_vendor) |  [ mcap_vendor
](/p/mcap_vendor#foxy)
[ ](/p/pluginlib#foxy-deps) |  [ 1 ](/packages/pluginlib) |  [ pluginlib
](/p/pluginlib#foxy)
[ ](/p/rcutils#foxy-deps) |  [ 1 ](/packages/rcutils) |  [ rcutils
](/p/rcutils#foxy)
[ ](/p/rosbag2_storage#foxy-deps) |  [ 1 ](/packages/rosbag2_storage) |  [
rosbag2_storage ](/p/rosbag2_storage#foxy)

###  System Dependencies


**Tags** |  _No category tags._
---|---
**Version** |  0.15.9
**License** |  Apache-2.0
**Build type** |  AMENT_CMAKE
**Use** |  RECOMMENDED

###  Repository Summary


{{ message }}


[ API Docs ](http://docs.ros.org/en/humble/p/rosbag2_storage_mcap "View API
documentation on docs.ros.org") [ Browse Code
](https://github.com/ros2/rosbag2/tree/humble/rosbag2_storage_mcap "View
source code on repository")


##  0.22.6 (2024-02-07)


No version for distro **ardent** . Known supported distros are highlighted in
the buttons above.


_No plugins found._


[ .vscode ](/ros-tooling/rosbag2_storage_mcap/tree/main/.vscode ".vscode")


Use MCAP files with regular [ ` ros2 bag ` commands
](https://docs.ros.org/en/humble/Tutorials/Beginner-CLI-Tools/Recording-And-
Playing-Back-Data/Recording-And-Playing-Back-Data.html) by adding the `
--storage mcap ` option (abbreviated as ` -s mcap ` ):


[ tags ](/tags/) [ users ](/users/) [ badges ](/badges/)


No version for distro **noetic** . Known supported distros are highlighted in
the buttons above.


[
![@jhdcs](https://avatars.githubusercontent.com/u/48914066?s=80&u=e790a8959c895c919401b76e17bb58b6814b9e9a&v=4)
](/jhdcs)


Name  |  Repo  |  Deps  |  [ andino_bringup ](/p/andino_bringup/github-Ekumen-
OS-andino#humble) |  [ github-Ekumen-OS-andino ](/r/andino/github-Ekumen-OS-
andino) |  [ ](/p/andino_bringup/github-Ekumen-OS-andino#humble-deps)
---|---|---

###  Launch files


Readme


No version for distro **lunar** . Known supported distros are highlighted in
the buttons above.


**[ emersonknapp ](/emersonknapp) ** commented  Apr 7, 2021  •


  * Read a serialized message ( ` cdr ` ) and its ` Type `
  * Try and find/load the current definition of ` Type ` from the ros2 installation
  * If the type isn't installed, fail?
  * If the type is installed, use serialization format introspection on the input, and rmw typesupport introspection on the loaded type, compare, and translate as many fields as possible.


* rosbag2_storage_mcap: add storage preset profiles


**[ jhdcs ](/jhdcs) ** commented  Apr 6, 2021


_See[ ROS Wiki Tutorials ](http://wiki.ros.org/rosbag2_storage_mcap/Tutorials)
for more details. _


Failed to get question list, you can ticket an issue [ here
](https://github.com/ros-infrastructure/rosindex/issues/new)


#  Changelog for package rosbag2_storage_mcap


auto topics = reader.get_all_topics_and_types();


Contributor  Author


_No direct system dependencies._


  * fix: minor issues ( [ #31 ](https://github.com/wep21/rosbag2_storage_mcap/issues/31) )
    * remove unnecessary block
    * use target_link_libraries instead of ament_target_dependencies
    * remove ros environment
    * add prefix to compile definition
  * Update email address for Foxglove maintainers ( [ #32 ](https://github.com/wep21/rosbag2_storage_mcap/issues/32) )
  * Contributors: Daisuke Nishimatsu, Jacob Bandes-Storch


Copy link


This package was recently merged into [ https://github.com/ros2/rosbag2
](https://github.com/ros2/rosbag2/tree/iron/rosbag2_storage_mcap/ros2/rosbag2)
from [ https://github.com/ros-tooling/rosbag2_storage_mcap
](https://github.com/ros2/rosbag2/tree/iron/rosbag2_storage_mcap/ros-
tooling/rosbag2_storage_mcap) . To view historical pull requests and git
history of this package, check [ here ](https://github.com/ros-
tooling/rosbag2_storage_mcap/commits/main) .


###  Dependant Packages


    # Replace "rolling" with your ROS distro (`echo $ROS_DISTRO`)
    $ sudo apt install ros-rolling-rosbag2-storage-mcap


[ ![ROS Foxy version](https://img.shields.io/ros/v/foxy/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#foxy) [
![ROS Galactic
version](https://img.shields.io/ros/v/galactic/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#galactic)
[ ![ROS Humble
version](https://img.shields.io/ros/v/humble/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#humble) [
![ROS Rolling
version](https://img.shields.io/ros/v/rolling/rosbag2_storage_mcap)
](https://index.ros.org/p/rosbag2_storage_mcap/github-ros2-rosbag2/#rolling)


###  Plugins


> the important question is whether the storage implementation can read a
> given ` SerializedBagMessageVersion `


You can’t perform that action at this time.


1\. Moved code responsible for adding schema and channel from write(msg) to
create_topic(topic) method to reduce performance burden on first message write
and in lieu to preparation for moving schema collection process to upper
SequentialWriter layer.


###  Resources


_No additional authors._


[ **5** forks ](/ros-tooling/rosbag2_storage_mcap/forks)


####  Additional Links


###  License


No version for distro **dashing** . Known supported distros are highlighted in
the buttons above.


Sorry, something went wrong.


I can see the temptation to call them "the same feature" - and maybe they are
invoked the same way - but under the hood i see them as pretty separate
problems.

---

All reactions


**[ emersonknapp ](/emersonknapp) ** commented  Apr 6, 2021  •


  * Support timestamp-ordered playback ( [ #50 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/50) )
  * Support regex topic filtering
  * Contributors: James Smith


_No service files found_


###  Services


[ **answered 2021-04-01 08:26:37 -0500  ** ](/answers/375199/revisions/)


    noChunking: true
    noSummaryCRC: true


[ ![ROS Answers logo](/m/ros/media/images/logoros.png?v=28) ](/questions/)


Include my email address so I can be contacted


Collaborator


#  Changelog for package rosbag2_storage_mcap


[ mcap_vendor ](/p/mcap_vendor/github-ros-tooling-rosbag2_storage_mcap)
rosbag2_storage_mcap  [ rosbag2_storage_mcap_testdata
](/p/rosbag2_storage_mcap_testdata/github-ros-tooling-rosbag2_storage_mcap)
---|---

github-ros-tooling-rosbag2_storage_mcap


* rosbag2_storage_mcap: add storage preset profiles


##  ⚠ Move from ` ros-tooling ` organization


**Checkout URI** |  [ https://github.com/ros2/rosbag2.git
](https://github.com/ros2/rosbag2.git)
---|---
**VCS Type** |  git
**VCS Version** |  rolling
**Last Updated**

2024-04-17  |  **Dev Status** |  DEVELOPED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rosbag2/#rolling-contribute-
lists-help-wanted)
[ Good First Issues (  0  ) ](/r/rosbag2/#rolling-contribute-lists-good-first-
issue)
[ Pull Requests to Review (  0  ) ](/r/rosbag2/#rolling-contribute-lists-pull-
requests)

###  Package Description


##  0.3.0 (2022-09-09)


**[ emersonknapp ](/emersonknapp) ** commented  Apr 7, 2021  •


###  Messages


##  History


I'd like to call this ` StorageOptions+RecordOptions ` combo a ` Storage
Configuration ` \- in combination they define everything that there is to know
about a recorded bag, given by the fact that the ` record ` API takes these as
input.


Development continues at [
https://github.com/ros2/rosbag2/tree/rolling/rosbag2_storage_mcap
](https://github.com/ros2/rosbag2/tree/rolling/rosbag2_storage_mcap) . Please
do not open new issues on this repo - instead, report issues [ here
](https://github.com/ros2/rosbag2/issues) .


###  Plugins


  * Add all lz4 sources to fix undefined symbols at runtime ( [ #46 ](https://github.com/ros-tooling/rosbag2_storage_mcap/issues/46) )
  * Contributors: Emerson Knapp


    compression: "Zstd"
    compressionLevel: "Slowest"
    chunkSize: 4194304 # 4 * 1024 * 1024


**[ jhdcs ](/jhdcs) ** commented  Apr 6, 2021  •


Additional navigation options


Serous question - Why is it " _unreasonable to expect in the future that the B
release of ROS be able to read things I generated in the T release_ "? It
seems like a well defined bag format would not be changing so much. Many/most
storage formats are able to go for a decade+ without breaking backwards
compatibility.

---

All reactions


Field  |  Type / Values  |  Description
---|---|---
noChunkCRC  |  bool  |  Disable CRC calculation for Chunks. Ignored if `
noChunking=true ` .
noAttachmentCRC  |  bool  |  Disable CRC calculation for Attachments.
enableDataCRC  |  bool  |  Enables CRC calculation for the entire Data
section. Useful when ` noChunking=True ` .
noSummaryCRC  |  bool  |  Disable CRC calculation for the Summary section.
noChunking  |  bool  |  Do not write Chunks to the file, instead writing
Schema, Channel, and Message records directly into the Data section.
noMessageIndex  |  bool  |  Do not write Message Index records to the file. If
` noSummary=true ` and ` noChunkIndex=false ` , Chunk Index records will still
be written to the Summary section, providing a coarse message index.
noSummary  |  bool  |  Do not write Summary or Summary Offset sections to the
file, placing the Footer record immediately after DataEnd. This can provide
some speed boost to file writing and produce smaller files, at the expense of
requiring a conversion process later if fast summarization or indexed access
is desired.
chunkSize  |  unsigned int  |  Target uncompressed Chunk payload size in
bytes. Once a Chunk's uncompressed data meets or exceeds this size, the Chunk
will be compressed (if compression is enabled) and written to disk. Note that
smaller Chunks may be written, such as the last Chunk in the Data section.
This option is ignored if ` noChunking=true ` .
compression  |  "None", "Lz4", "Zstd"  |  Compression algorithm to use when
writing Chunks. This option is ignored if ` noChunking=true ` .
compressionLevel  |  "Fastest", "Fast", "Default", "Slow", "Slowest"  |
Compression level to use when writing Chunks. Slower generally produces
smaller files, at the expense of more CPU time. These levels map to different
internal settings for each compression algorithm.
forceCompression  |  bool  |  By default, Chunks that do not benefit from
compression will be written uncompressed. This option can be used to force
compression on all Chunks. This option is ignored if ` noChunking=true ` .
noRepeatedSchemas  |  bool  |  Advanced option.
noRepeatedChannels  |  bool  |  Advanced option.
noMetadataIndex  |  bool  |  Advanced option.
noChunkIndex  |  bool  |  Advanced option.
noStatistics  |  bool  |  Advanced option.
noSummaryOffsets  |  bool  |  Advanced option.

Example:


[
![@emersonknapp](https://avatars.githubusercontent.com/u/537409?s=80&u=df10fea87305edde062008566721a9968483fa56&v=4)
](/emersonknapp)


##  0.26.0 (2024-04-16)


[ ![@danthony06](https://avatars.githubusercontent.com/u/4430620?s=80&v=4)
](/danthony06)


**[ emersonknapp ](/emersonknapp) ** commented  Apr 12, 2021


**Checkout URI** |  [ https://github.com/ros-tooling/rosbag2_storage_mcap.git
](https://github.com/ros-tooling/rosbag2_storage_mcap.git)
---|---
**VCS Type** |  git
**VCS Version** |  main
**Last Updated**

2022-11-29  |  **Dev Status** |  DEVELOPED
**CI status** |  No Continuous Integration
**Released** |  RELEASED
**Tags** |  _No category tags._
**Contributing** |  [ Help Wanted (  0  ) ](/r/rosbag2_storage_mcap/#foxy-
contribute-lists-help-wanted)
[ Good First Issues (  0  ) ](/r/rosbag2_storage_mcap/#foxy-contribute-lists-
good-first-issue)
[ Pull Requests to Review (  0  ) ](/r/rosbag2_storage_mcap/#foxy-contribute-
lists-pull-requests)

###  Package Description


##  0.1.6 (2022-07-22)


####  ` zstd_fast `


  * Use rw_lock to protect mcap metadata lists. ( [ #1566 ](https://github.com/ros2/rosbag2/issues/1566) )
  * Remove rcpputils::fs dependencies from rosbag2_storages ( [ #1564 ](https://github.com/ros2/rosbag2/issues/1564) )
  * Link and compile against rosbag2_storage_mcap: Fixed issue 1492 ( [ #1497 ](https://github.com/ros2/rosbag2/issues/1497) )
  * Contributors: Alejandro Hern


Sorry, something went wrong.


##  Footer


* 👍  1 reaction


####  ` fastwrite `


#  Search code, repositories, users, issues, pull requests...


---

[
API Docs ](http://docs.ros.org/en/galactic/p/rosbag2_storage_mcap "View API
documentation on docs.ros.org") [
Browse Code ](https://github.com/ros-
tooling/rosbag2_storage_mcap/tree/main/rosbag2_storage_mcap "View source code
on repository")


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


[ **updated 2021-04-02 06:36:49 -0500  ** ](/answers/375199/revisions/)


Collaborator


[ README.md ](/ros2torial/ros2_ethercat/blob/main/README.md "README.md")


Query


[ README.md ](/ICube-Robotics/ethercat_driver_ros2/blob/main/README.md
"README.md")

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[ ethercat_manager ](/ICube-
Robotics/ethercat_driver_ros2/tree/main/ethercat_manager "ethercat_manager")

|

|


    ros2 topic echo /hardware/gpio_command_controller/gpio_states

    publish on /hardware/gpio_command_controller/commands topic to set output

    ros2 topic pub -r1 /hardware/gpio_command_controller/commands std_msgs/msg/Float64MultiArray "layout:
      dim: [{"label": "gpio_num","size": 2,"stride": 32}, {"label": "io_num","size": 16,"stride": 16}]
      data_offset: 0
    data: [0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1]
    "


* [ Ask a related question ](/p/addpost?rt=1291258)


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##  [ Releases ](/ros2torial/ros2_ethercat/releases)


Options


[ custom_interfaces ](/ros2torial/ros2_ethercat/tree/main/custom_interfaces
"custom_interfaces")


[ ethercat_interface ](/ICube-
Robotics/ethercat_driver_ros2/tree/main/ethercat_interface
"ethercat_interface")

|


Hardware required for making Real Industrial Robot Arm through EtherCAT


0  [ Cesar ](/members/20288) [ 5 months ago
](https://e2e.ti.com/support/sensors-group/sensors/f/sensors-
forum/1291258/dca1000evm-ethernet-connection-to-jetson-nano-from-
dca1000-evm/4901874#4901874) in reply to [ soham Tripathy
](https://e2e.ti.com/support/sensors-group/sensors/f/sensors-
forum/1291258/dca1000evm-ethernet-connection-to-jetson-nano-from-
dca1000-evm/4901021#4901021)


[ ethercat_driver ](/ICube-
Robotics/ethercat_driver_ros2/tree/main/ethercat_driver "ethercat_driver")

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[ ethercat_msgs ](/ICube-Robotics/ethercat_driver_ros2/tree/main/ethercat_msgs
"ethercat_msgs")

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  [ Releases  3  ](/ICube-Robotics/ethercat_driver_ros2/releases)

[ v1.2.0  Latest  Jun 30, 2023  ](/ICube-
Robotics/ethercat_driver_ros2/releases/tag/v1.2.0)

[ \+ 2 releases ](/ICube-Robotics/ethercat_driver_ros2/releases)


[ What is the cause of ROS2 XML launch substitution error "Unknown
substitution: arg"? ](/question/411977/what-is-the-cause-of-ros2-xml-launch-
substitution-error-unknown-substitution-arg/)


{{ message }}


Isn't this a duplicate of [ #q416701
](http://answers.ros.org/question/416701/) ?


##  Start EtherCAT ROS2 Control


##  Comments


I am currently working on a project where I want to collect the raw data
streaming over Ethernet in NVIDIA's Jetson Nano. I have set the correct ip and
port number in my Jetson Nano. I can confirm that the UDP packets are coming
by typing the command


0  [ Josh Wyatt ](/members/614) [ 5 months ago
](https://e2e.ti.com/support/sensors-group/sensors/f/sensors-
forum/1291258/dca1000evm-ethernet-connection-to-jetson-nano-from-
dca1000-evm/4901920#4901920) in reply to [ Cesar
](https://e2e.ti.com/support/sensors-group/sensors/f/sensors-
forum/1291258/dca1000evm-ethernet-connection-to-jetson-nano-from-
dca1000-evm/4901874#4901874)


[ .gitignore ](/ros2torial/ros2_ethercat/blob/main/.gitignore ".gitignore")


###  [ Sensors  ](https://e2e.ti.com/support/sensors-group/sensors/)


[ Omar_Alkassas ](/users/117542/omar_alkassas/)
1  ●  3  ●  4


Hi,


* [ User ](/login?ReturnUrl=%2Fsupport%2Fsensors-group%2Fsensors%2Ff%2Fsensors-forum%2F1291258%2Fdca1000evm-ethernet-connection-to-jetson-nano-from-dca1000-evm "Join or sign in")


My account


* Cancel


[ ![ gravatar image]() ]() [ ]() (  2024-04-14 20:00:14 -0500  )  edit


However when I try to read the function from the Python program I am getting a
socket time-our error. The Python code is given below:


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[ ethercat_driver_ros2 ](/ICube-
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"ethercat_driver_ros2")

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[ **asked 2023-07-10 02:15:17 -0500  ** ](/questions/417318/revisions/)


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##  Start IgH EtherCAT Master


[ igh_auto_install.sh
](/ros2torial/ros2_ethercat/blob/main/igh_auto_install.sh
"igh_auto_install.sh")


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[ .pre-commit-config.yaml ](/ICube-
Robotics/ethercat_driver_ros2/blob/main/.pre-commit-config.yaml ".pre-commit-
config.yaml")

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[ ethercat_generic_plugins ](/ICube-
Robotics/ethercat_driver_ros2/tree/main/ethercat_generic_plugins
"ethercat_generic_plugins")

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[ TI__Guru***  ]( "Click here for explanation of levels") 138259  points


  ethercat_driver_ros2

[
![Licence](https://camo.githubusercontent.com/db9dfde8049c5d66ba62fde707d2cfb30e26f9f26ff274c3442c0aec1ec410a4/68747470733a2f2f696d672e736869656c64732e696f2f62616467652f4c6963656e73652d417061636865253230322e302d626c75652e737667)
](https://opensource.org/licenses/Apache-2.0) [
![DOI](https://camo.githubusercontent.com/28a5f043ba0f70122210f4a142199cb0281c24784a508a53c193e827cb4e2e4d/68747470733a2f2f7a656e6f646f2e6f72672f62616467652f3439313933303132362e737667)
](https://zenodo.org/badge/latestdoi/491930126) [
![Build](https://github.com/ICube-
Robotics/ethercat_driver_ros2/actions/workflows/ci.yml/badge.svg)
](https://github.com/ICube-
Robotics/ethercat_driver_ros2/actions/workflows/ci.yml)

Implementation of a ` Hardware Interface ` for simple Ethercat module
integration with [ ` ros2_control ` ](https://github.com/ros-
controls/ros2_control) and building upon [ IgH EtherCAT Master for Linux
](https://etherlab.org/en/ethercat/) .


##  About


Resources


[ ros2torial ](/ros2torial) /  **[ ros2_ethercat ](/ros2torial/ros2_ethercat)
** Public


[ gpio_controllers ](/ros2torial/ros2_ethercat/tree/main/gpio_controllers
"gpio_controllers")


[ ethercat_msgs ](/ICube-Robotics/ethercat_driver_ros2/tree/main/ethercat_msgs
"ethercat_msgs")

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[ ROS2 nav2_turorial on win10 ERROR! ](/question/418092/ros2-nav2_turorial-on-
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[ .gitignore ](/ICube-Robotics/ethercat_driver_ros2/blob/main/.gitignore
".gitignore")

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0  [ Cesar ](/members/20288) [ 5 months ago
](https://e2e.ti.com/support/sensors-group/sensors/f/sensors-
forum/1291258/dca1000evm-ethernet-connection-to-jetson-nano-from-
dca1000-evm/4899494#4899494)


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to Tool Folder")


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[ igh_auto_install.sh
](/ros2torial/ros2_ethercat/blob/main/igh_auto_install.sh
"igh_auto_install.sh")


Similar topics


#  ros2torial/ros2_ethercat


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04:47:33 -0500  )  edit


[ CONTRIBUTING.md ](/ICube-
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Thank you


[ ethercat_generic_plugins ](/ICube-
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[ LICENSE ](/ICube-Robotics/ethercat_driver_ros2/blob/main/LICENSE "LICENSE")

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#  ros2_ethercat


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ros2 run gpio_control test_output_publisher 15 1000


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 Ethercat for ROS2
Ethercat for ROS2
Ethercat is a communication protocol with is used to read or send voltages and currents from I/O-modules (hardware). For ethercat hardware to communicate with ROS2, a translation of DDS topics (DDS is the underlying communication protocol of ROS2) to ethercat messages and vice versa is required.


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    ros2 service call /output_control custom_interfaces/srv/OutputControl "output_number: 15
    value: true
    "

    ros2 service call /output_control custom_interfaces/srv/OutputControl "output_number: 15
    value: false
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[ 25 Commits  ](/ros2torial/ros2_ethercat/commits/main/)


    sudo /etc/init.d/ethercat start
    sudo chmod 777 /dev/EtherCAT0
    ethercat slaves


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Hardware Interface for EtherCAT module integration with ros2_control

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Last updated: **Jul 10 '23**


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##  Repository files navigation


contains packages to communicate with omron ethercat devices


[ MoveIt2 Tutorials Getting Stuck ](/question/404996/moveit2-tutorials-
getting-stuck/)


[ gpio_controllers ](/ros2torial/ros2_ethercat/tree/main/gpio_controllers
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[ gpio_control ](/ros2torial/ros2_ethercat/tree/main/gpio_control
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to set a particuler output keeping other output values same ->


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to set a particuler output HIGH for certain duration(ms) ->


* [ humble ](/questions/scope:all/sort:activity-desc/tags:humble/page:1/)


[ README.md ](/ICube-Robotics/ethercat_driver_ros2/blob/main/README.md
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or directly run the _ethercat_start.sh_ file in the gpio_control which
automatically run the above three commands


* [ industrial ](/questions/scope:all/sort:activity-desc/tags:industrial/page:1/)


[ .gitignore ](/ICube-Robotics/ethercat_driver_ros2/blob/main/.gitignore
".gitignore")

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I want to make an articulated robot using ROS 2 humble. It will be used in
industry, so the motors are more industrial. the motor is connected to a
driver to control it and the driver will be connected to my laptop which runs
ROS 2 humble through EtherCAT communication using EtherCAT cable. I want to
ask how to connect to this driver and send commands with ROS. Is there a
package to help me? And Will I need a controller or a hardware device to
connect the laptop to the drivers?


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[ INSTALL.md ](/ICube-Robotics/ethercat_driver_ros2/blob/main/INSTALL.md
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[ ethercat_manager ](/ICube-
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[ **updated 2023-07-10 03:16:31 -0500  ** ](/questions/417318/revisions/)


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ros2 ethercat package(ethercat plugins + gpio controllers) for omron


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  About

Hardware Interface for EtherCAT module integration with ros2_control

[ icube-robotics.github.io/ethercat_driver_ros2/ ](https://icube-
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* [ The ReadME Project  GitHub community articles  ](/readme)


  About

[ EtherCAT ](https://www.ethercat.org/default.htm) provides applications with
the capacity of reliable, real-time communication between systems and is
therefore a common industrial standard. In order to simplify the
development/deployment of new application using EtherCAT modules, the `
ethercat_driver ` allows to combine them with [ ` ros2_control `
](https://github.com/ros-controls/ros2_control) . This driver proposes a
generic ways to parametrise and assemble ` Hardware Interfaces ` based on
EtherCAT modules that can be defined using parameter files.

**For more information, please check the[ documentation ](https://ICube-
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Soham - Try port 4096 instead 4098?


[ ethercat_interface ](/ICube-
Robotics/ethercat_driver_ros2/tree/main/ethercat_interface
"ethercat_interface")

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ros2 ethercat package(ethercat plugins + gpio controllers) for omron


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[ ethercat_plugins ](/ros2torial/ros2_ethercat/tree/main/ethercat_plugins
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Asked: ** 2023-07-10 02:15:17 -0500  **


[ .docker ](/ICube-Robotics/ethercat_driver_ros2/tree/main/.docker ".docker")

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       ]: 2023-07-10 02:15:17 -0500
  *[
        2024-04-14 20:00:14 -0500
       ]: 2024-04-14 20:00:14 -0500


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[ INSTALL.md ](/ICube-Robotics/ethercat_driver_ros2/blob/main/INSTALL.md
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    import socket

    HOST = '192.168.33.30'
    PORT = 4098

    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

    s.bind((HOST, PORT))

    print("Connected")

    while True:
        data, _ = s.recvfrom(4096)
        if not data:
            print("Data not received")
            continue
        print(data)

    Things tried out:
    1). I ran the same code on ubuntu 20.04 in my laptop and it worked perfectly, but when I connect remove the Ethernet cable from my laptop and connect to the jetson nano, this program gives a socket time-out error. I am unable to
    understand why this is happening. I have disabled firewall too.
    2). Also I set my laptop to the same ip address and Port as that coded in the FPGA (192.168.33.30 and port number 4098) of DCA1000EVM (just to check that there is no issue with the ip address
    and port number by any chance) and tried UDP packet communication with my Jetson Nano, it works, but when trying
    from DCA1000 EVM to Jetson, it is giving socket-timeout error.

    Currently Jetson Nano has the official OS flashed in it, which is downloaded from the link <https://developer.nvidia.com/embedded/learn/get-started-jetson-nano-devkit#write-linux>. The Jetson Nano has Ubuntu 18.04 running on it.
    The sensor we are using is IWR1843 BOOST EVM.

    Can you help me resolve this issue?


Cesar


* [ ethercat ](/questions/scope:all/sort:activity-desc/tags:ethercat/page:1/)


* [ robot_arm ](/questions/scope:all/sort:activity-desc/tags:robot_arm/page:1/)


#  DCA1000EVM: Ethernet connection to Jetson Nano from DCA1000 EVM


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##  Question Tools


For several Beckhoff modules (hardware from the developers of ethercat) I have created composable nodes (ROS2 construction) so that no more code must be written to get ethercat hardware working. Simply specify the modules used and the ROS2 topics will be generated. This is not part of the open source wrapper.


  * [ DCA1000EVM ](/support/sensors-group/sensors/f/sensors-forum/tags/DCA1000EVM)
  * [ IWR1843 ](/support/sensors-group/sensors/f/sensors-forum/tags/IWR1843)
  * [ Ethernet ](/support/sensors-group/sensors/f/sensors-forum/tags/Ethernet)


I created a ROS2 wrapper for an ethercat master (SOEM) so that signals are directly available in ROS2. The exchange of data to and from the hardware I/O takes place via DMA (Direct Memory Access) so that high refresh rates can be achieved (1000 Hz). The wrapper “SOEM for ROS2” is open source.


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to check the io states run


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      * [ API Change for nav2_core ](../../migration/Galactic.html#api-change-for-nav2-core)
      * [ Extending the BtServiceNode to process Service-Results ](../../migration/Galactic.html#extending-the-btservicenode-to-process-service-results)
      * [ Including new Rotation Shim Controller Plugin ](../../migration/Galactic.html#including-new-rotation-shim-controller-plugin)
      * [ Spawning the robot in Gazebo ](../../migration/Galactic.html#spawning-the-robot-in-gazebo)
      * [ Recovery Behavior Timeout ](../../migration/Galactic.html#recovery-behavior-timeout)
      * [ New parameter ` use_final_approach_orientation  ` for the 3 2D planners ](../../migration/Galactic.html#new-parameter-use-final-approach-orientation-for-the-3-2d-planners)
      * [ SmacPlanner2D and Theta*: fix goal orientation being ignored ](../../migration/Galactic.html#smacplanner2d-and-theta-fix-goal-orientation-being-ignored)
      * [ SmacPlanner2D, NavFn and Theta*: fix small path corner cases ](../../migration/Galactic.html#smacplanner2d-navfn-and-theta-fix-small-path-corner-cases)
      * [ Change and fix behavior of dynamic parameter change detection ](../../migration/Galactic.html#change-and-fix-behavior-of-dynamic-parameter-change-detection)
      * [ Dynamic Parameters ](../../migration/Galactic.html#dynamic-parameters)
      * [ BT Action Nodes Exception Changes ](../../migration/Galactic.html#bt-action-nodes-exception-changes)
      * [ BT Navigator Groot Multiple Navigators ](../../migration/Galactic.html#bt-navigator-groot-multiple-navigators)
      * [ Removed Kinematic Limiting in RPP ](../../migration/Galactic.html#removed-kinematic-limiting-in-rpp)


Cancel  Create saved search


Resources


Sign up


      * [ Default Plugins ](../../configuration/packages/configuring-costmaps.html#default-plugins)
      * [ Plugin Parameters ](../../configuration/packages/configuring-costmaps.html#plugin-parameters)
        * [ Static Layer Parameters ](../../configuration/packages/costmap-plugins/static.html)
        * [ Inflation Layer Parameters ](../../configuration/packages/costmap-plugins/inflation.html)
        * [ Obstacle Layer Parameters ](../../configuration/packages/costmap-plugins/obstacle.html)
        * [ Voxel Layer Parameters ](../../configuration/packages/costmap-plugins/voxel.html)
        * [ Range Sensor Parameters ](../../configuration/packages/costmap-plugins/range.html)
        * [ Denoise Layer Parameters ](../../configuration/packages/costmap-plugins/denoise.html)
      * [ Costmap Filters Parameters ](../../configuration/packages/configuring-costmaps.html#costmap-filters-parameters)
        * [ Keepout Filter Parameters ](../../configuration/packages/costmap-plugins/keepout_filter.html)
        * [ Speed Filter Parameters ](../../configuration/packages/costmap-plugins/speed_filter.html)
        * [ Binary Filter Parameters ](../../configuration/packages/costmap-plugins/binary_filter.html)
      * [ Example ](../../configuration/packages/configuring-costmaps.html#example)
    * [ Lifecycle Manager ](../../configuration/packages/configuring-lifecycle.html)
      * [ Parameters ](../../configuration/packages/configuring-lifecycle.html#parameters)
      * [ Example ](../../configuration/packages/configuring-lifecycle.html#example)
    * [ Planner Server ](../../configuration/packages/configuring-planner-server.html)
      * [ Parameters ](../../configuration/packages/configuring-planner-server.html#parameters)
      * [ Default Plugins ](../../configuration/packages/configuring-planner-server.html#default-plugins)
      * [ Example ](../../configuration/packages/configuring-planner-server.html#example)
    * [ Coverage Server ](../../configuration/packages/configuring-coverage-server.html)
      * [ Parameters ](../../configuration/packages/configuring-coverage-server.html#parameters)
      * [ Example ](../../configuration/packages/configuring-coverage-server.html#example)
    * [ NavFn Planner ](../../configuration/packages/configuring-navfn.html)
      * [ Parameters ](../../configuration/packages/configuring-navfn.html#parameters)
      * [ Example ](../../configuration/packages/configuring-navfn.html#example)
    * [ Smac Planner ](../../configuration/packages/configuring-smac-planner.html)
      * [ Provided Plugins ](../../configuration/packages/configuring-smac-planner.html#provided-plugins)
        * [ Smac 2D Planner ](../../configuration/packages/smac/configuring-smac-2d.html)
        * [ Smac Hybrid-A* Planner ](../../configuration/packages/smac/configuring-smac-hybrid.html)
        * [ Smac State Lattice Planner ](../../configuration/packages/smac/configuring-smac-lattice.html)
      * [ Description ](../../configuration/packages/configuring-smac-planner.html#description)
    * [ Theta Star Planner ](../../configuration/packages/configuring-thetastar.html)
      * [ Parameters ](../../configuration/packages/configuring-thetastar.html#parameters)
      * [ Example ](../../configuration/packages/configuring-thetastar.html#example)
    * [ Controller Server ](../../configuration/packages/configuring-controller-server.html)
      * [ Parameters ](../../configuration/packages/configuring-controller-server.html#parameters)
      * [ Provided Plugins ](../../configuration/packages/configuring-controller-server.html#provided-plugins)
        * [ SimpleProgressChecker ](../../configuration/packages/nav2_controller-plugins/simple_progress_checker.html)
        * [ PoseProgressChecker ](../../configuration/packages/nav2_controller-plugins/pose_progress_checker.html)


3\. Similar to task 1, the task 2 callback returns Failure. Since we still ran
the fallback mechanism (OR) we continue.


Search


<Wait wait_duration="5"/>


v4 updates to Rolling (#42)
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behavior_trees
v4 updates to Rolling (#42)
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include/opennav_coverage_bt
initial commit of row coverage capability (#36)
4 months ago
src
initial commit of row coverage capability (#36)
4 months ago
test
initial commit of row coverage capability (#36)
4 months ago
CMakeLists.txt
refactor naming
6 months ago
README.md
initial commit of row coverage capability (#36)
4 months ago
package.xml
refactor naming
6 months ago
README.md
Open Navigation's Nav2 Complete Coverage BT
This package contains a set of behavior tree nodes, XML for interacting with the coverage servers


  * README
  * Apache-2.0 license


For a good reference implementation of BTCPP with ROS2 checkout [ navigation2
](https://github.com/ros-planning/navigation2) .


Note that this library is compatible **only** with:


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


[ 62 Commits  ](/BehaviorTree/BehaviorTree.ROS2/commits/humble/)


](https://medium.com/business?source=post_page-----
775ec0e97856--------------------------------)


[ **2** forks ](/berkeleyauv/behavior_tree/forks)


Search or jump to...


We can imagine your robot performing the task. In order to guarantee the task
performance by a robot (for example robot cleaner) the “main” task is divided
into several subtasks, like path planning, perception, orientation in the
space, and power management, etc (in the ROS all these subtasks can be
distributed across the nodes). All these subtasks can be considered low-level
tasks, which are not architected by BT.
BT can be considered as the logical flow of your application. One task or
action can depend on one or several previous actions, and at the same time,
different conditions have to be true/false in order to affect the
robot/application action.


###  4- Run Your Custom plugin  ¶


[ ](https://github.com/)


[ Notifications ](/login?return_to=%2Fberkeleyauv%2Fbehavior_tree)


* Open Source


##  About


We then call the ` BTActionNode  ` constructor. As can be seen, it’s templated
by the ROS 2 action type, so we give it the ` nav2_msgs::action::Wait  `
action message type and forward our other inputs. The ` BTActionNode  ` has
the ` tick()  ` method, which is called directly by the behavior tree when
this node is called from the tree. ` on_tick()  ` is then called before
sending the action client goal.


  * [ Terms ](https://docs.github.com/site-policy/github-terms/github-terms-of-service)
  * [ Privacy ](https://docs.github.com/site-policy/privacy-policies/github-privacy-statement)
  * [ Security ](/security)
  * [ Status ](https://www.githubstatus.com/)
  * [ Docs ](https://docs.github.com/)
  * [ Contact ](https://support.github.com?tags=dotcom-footer)
  * Manage cookies
  * Do not share my personal information


BT in action. (by author)


###  Topics


      * [ Subtrees Obtain Shared Resources ](../../migration/Iron.html#subtrees-obtain-shared-resources)
      * [ Collision Monitor: added watchdog mechanism based on ` source_timeout  ` parameter with default blocking behavior ](../../migration/Iron.html#collision-monitor-added-watchdog-mechanism-based-on-source-timeout-parameter-with-default-blocking-behavior)
      * [ BtActionServer: use native library haltTree() ](../../migration/Iron.html#btactionserver-use-native-library-halttree)
      * [ Global Frame Removed from 2 BT Nodes ](../../migration/Iron.html#global-frame-removed-from-2-bt-nodes)
      * [ Introduction of ` CostmapUpdate.msg  ` ](../../migration/Iron.html#introduction-of-costmapupdate-msg)
      * [ Full Stack Uses Node Clocks ](../../migration/Iron.html#full-stack-uses-node-clocks)
      * [ New Graceful Motion Controller ](../../migration/Iron.html#new-graceful-motion-controller)
      * [ Plugin Libraries in BT Navigator Only Includes Custom Nodes ](../../migration/Iron.html#plugin-libraries-in-bt-navigator-only-includes-custom-nodes)
      * [ New RViz Plugin for selecting Planners, Controllers, Goal Checkers, Progress Checkers and Smoothers ](../../migration/Iron.html#new-rviz-plugin-for-selecting-planners-controllers-goal-checkers-progress-checkers-and-smoothers)
      * [ RPP new optional ` interpolate_curvature_after_goal  ` behavior and fix conflict between ` use_rotate_to_heading  ` and ` allow_reversing  ` ](../../migration/Iron.html#rpp-new-optional-interpolate-curvature-after-goal-behavior-and-fix-conflict-between-use-rotate-to-heading-and-allow-reversing)
      * [ Cancel Checker Interface For GlobalPlanner ](../../migration/Iron.html#cancel-checker-interface-for-globalplanner)
      * [ New BtActionServer/BtNavigator parameter ](../../migration/Iron.html#new-btactionserver-btnavigator-parameter)
      * [ New collision monitor parameter ](../../migration/Iron.html#new-collision-monitor-parameter)
      * [ New graceful cancellation API for Controllers ](../../migration/Iron.html#new-graceful-cancellation-api-for-controllers)
      * [ Standardization of Plugin Naming with Double Colons (::) ](../../migration/Iron.html#standardization-of-plugin-naming-with-double-colons)
      * [ Collision monitor: dynamic radius for circle type polygons ](../../migration/Iron.html#collision-monitor-dynamic-radius-for-circle-type-polygons)
  * [ Simple Commander API ](../../commander_api/index.html)
    * [ Overview ](../../commander_api/index.html#overview)
    * [ Commander API ](../../commander_api/index.html#id1)
    * [ Costmap API ](../../commander_api/index.html#costmap-api)
    * [ Footprint Collision Checker API ](../../commander_api/index.html#footprint-collision-checker-api)
    * [ Examples and Demos ](../../commander_api/index.html#examples-and-demos)
  * [ Roadmaps ](../../roadmap/roadmap.html)
    * [ Jazzy Roadmap ](../../roadmap/roadmap.html#jazzy-roadmap)
    * [ Iron Roadmap ](../../roadmap/roadmap.html#iron-roadmap)
    * [ Humble Roadmap ](../../roadmap/roadmap.html#humble-roadmap)
  * [ About and Contact ](../../about/index.html)
    * [ Related Projects ](../../about/related_projects.html)
    * [ About ](../../about/index.html#id1)
    * [ Contact ](../../about/index.html#contact)


###  Resources


    void WaitAction::on_tick()
    {
      increment_recovery_count();
    }


In addition, to the online course please download the [ free book
](https://arxiv.org/abs/1709.00084) and be inspired by this [ YouTube channel
](https://www.youtube.com/@petterogren7535) .


The depicted stack can be considered as follows. The engineer/designer takes
the requirements for the robot application and architects the logical flow of
the application (create the behavior trees).
The structure of BT (logical flow) mimics the behavior of the robot (figure in
the game). We can say, the designer logically connects the robot primitives to
reflect the specification for the robot application.
The BT is modeled as an XML format file. The C++ framework ( [
BehaviourTree.CP ](https://www.behaviortree.dev/) P) allows the construction
of BT in your application. The definition of the robot tasks (program function
in C++) completes the following stack.


Since the idea of the article is the only introduction to the BT I will focus
on the basic logical components, which I will use later in the practical C++
example. The ROS2 (Galactic) example you will find [ here
](https://app.theconstructsim.com/LiveClass/8e39921b-f25e-4bdf-b8af-d71cc0f560c9/)
or in the [ course ](https://app.theconstructsim.com/Course/131/) .


    * [ All features ](/features)
    * [ Documentation  ](https://docs.github.com)
    * [ GitHub Skills  ](https://skills.github.com/)
    * [ Blog  ](https://github.blog)


        * [ Path Follow Critic ](../../configuration/packages/configuring-mppic.html#path-follow-critic)
        * [ Prefer Forward Critic ](../../configuration/packages/configuring-mppic.html#prefer-forward-critic)
        * [ Twirling Critic ](../../configuration/packages/configuring-mppic.html#twirling-critic)
        * [ Velocity Deadband Critic ](../../configuration/packages/configuring-mppic.html#velocity-deadband-critic)
      * [ Example ](../../configuration/packages/configuring-mppic.html#example)
      * [ Notes to Users ](../../configuration/packages/configuring-mppic.html#notes-to-users)
        * [ General Words of Wisdom ](../../configuration/packages/configuring-mppic.html#general-words-of-wisdom)
        * [ Prediction Horizon, Costmap Sizing, and Offsets ](../../configuration/packages/configuring-mppic.html#prediction-horizon-costmap-sizing-and-offsets)
        * [ Obstacle, Inflation Layer, and Path Following ](../../configuration/packages/configuring-mppic.html#obstacle-inflation-layer-and-path-following)
    * [ Rotation Shim Controller ](../../configuration/packages/configuring-rotation-shim-controller.html)
      * [ Rotation Shim Controller Parameters ](../../configuration/packages/configuring-rotation-shim-controller.html#rotation-shim-controller-parameters)
      * [ Example ](../../configuration/packages/configuring-rotation-shim-controller.html#example)
    * [ Graceful Controller ](../../configuration/packages/configuring-graceful-motion-controller.html)
      * [ Graceful Controller Parameters ](../../configuration/packages/configuring-graceful-motion-controller.html#graceful-controller-parameters)
      * [ Example ](../../configuration/packages/configuring-graceful-motion-controller.html#example)
    * [ Map Server / Saver ](../../configuration/packages/configuring-map-server.html)
      * [ Map Saver Parameters ](../../configuration/packages/configuring-map-server.html#map-saver-parameters)
      * [ Map Server Parameters ](../../configuration/packages/configuring-map-server.html#map-server-parameters)
      * [ Costmap Filter Info Server Parameters ](../../configuration/packages/configuring-map-server.html#costmap-filter-info-server-parameters)
      * [ Example ](../../configuration/packages/configuring-map-server.html#example)
    * [ AMCL ](../../configuration/packages/configuring-amcl.html)
      * [ Parameters ](../../configuration/packages/configuring-amcl.html#parameters)
      * [ Example ](../../configuration/packages/configuring-amcl.html#example)
    * [ Behavior Server ](../../configuration/packages/configuring-behavior-server.html)
      * [ Behavior Server Parameters ](../../configuration/packages/configuring-behavior-server.html#behavior-server-parameters)
      * [ Default Plugins ](../../configuration/packages/configuring-behavior-server.html#default-plugins)
      * [ Spin Behavior Parameters ](../../configuration/packages/configuring-behavior-server.html#spin-behavior-parameters)
      * [ BackUp Behavior Parameters ](../../configuration/packages/configuring-behavior-server.html#backup-behavior-parameters)
      * [ DriveOnHeading Behavior Parameters ](../../configuration/packages/configuring-behavior-server.html#driveonheading-behavior-parameters)
      * [ AssistedTeleop Behavior Parameters ](../../configuration/packages/configuring-behavior-server.html#assistedteleop-behavior-parameters)
      * [ Example ](../../configuration/packages/configuring-behavior-server.html#example)
    * [ Smoother Server ](../../configuration/packages/configuring-smoother-server.html)
      * [ Smoother Server Parameters ](../../configuration/packages/configuring-smoother-server.html#smoother-server-parameters)
      * [ Example ](../../configuration/packages/configuring-smoother-server.html#example)
    * [ Simple Smoother ](../../configuration/packages/configuring-simple-smoother.html)
      * [ Simple Smoother Parameters ](../../configuration/packages/configuring-simple-smoother.html#simple-smoother-parameters)
      * [ Example ](../../configuration/packages/configuring-simple-smoother.html#example)
    * [ Savitzky-Golay Smoother ](../../configuration/packages/configuring-savitzky-golay-smoother.html)
      * [ Savitzky-Golay Smoother Parameters ](../../configuration/packages/configuring-savitzky-golay-smoother.html#savitzky-golay-smoother-parameters)
      * [ Example ](../../configuration/packages/configuring-savitzky-golay-smoother.html#example)


      * [ DWB Forward vs Reverse Pruning ](../../migration/Humble.html#dwb-forward-vs-reverse-pruning)
      * [ More stable regulation on curves for long lookahead distances ](../../migration/Humble.html#more-stable-regulation-on-curves-for-long-lookahead-distances)
      * [ Publish Collision Monitor State ](../../migration/Humble.html#publish-collision-monitor-state)
      * [ Renamed ROS-parameter in Collision Monitor ](../../migration/Humble.html#renamed-ros-parameter-in-collision-monitor)
      * [ New safety behavior model “limit” in Collision Monitor ](../../migration/Humble.html#new-safety-behavior-model-limit-in-collision-monitor)
      * [ Velocity smoother applies deceleration when timeout ](../../migration/Humble.html#velocity-smoother-applies-deceleration-when-timeout)
      * [ PoseProgressChecker plugin ](../../migration/Humble.html#poseprogresschecker-plugin)
      * [ Allow multiple goal checkers and change parameter progress_checker_plugin(s) name and type ](../../migration/Humble.html#allow-multiple-goal-checkers-and-change-parameter-progress-checker-plugin-s-name-and-type)
      * [ IsBatteryChargingCondition BT Node ](../../migration/Humble.html#isbatterychargingcondition-bt-node)
      * [ Behavior Server Error Codes ](../../migration/Humble.html#behavior-server-error-codes)
      * [ New Denoise Costmap Layer Plugin ](../../migration/Humble.html#new-denoise-costmap-layer-plugin)
      * [ SmacPlannerHybrid viz_expansions parameter ](../../migration/Humble.html#smacplannerhybrid-viz-expansions-parameter)
    * [ Iron to Jazzy ](../../migration/Iron.html)
      * [ Added TwistStamped Option for Commands ](../../migration/Iron.html#added-twiststamped-option-for-commands)
      * [ Add VelocityPolygon in Collision Monitor ](../../migration/Iron.html#add-velocitypolygon-in-collision-monitor)
      * [ Change polygon points parameter format in Collision Monitor ](../../migration/Iron.html#change-polygon-points-parameter-format-in-collision-monitor)
      * [ Introduction of Soft-Real Time Action Servers ](../../migration/Iron.html#introduction-of-soft-real-time-action-servers)
      * [ ` opennav_coverage  ` Project ](../../migration/Iron.html#opennav-coverage-project)
      * [ Introduce a new Multi-Robot Bringup Launch ](../../migration/Iron.html#introduce-a-new-multi-robot-bringup-launch)
      * [ New option for the Voxel and Obstacle Layers ](../../migration/Iron.html#new-option-for-the-voxel-and-obstacle-layers)
      * [ use_interpolation RPP Parameter Depreciated ](../../migration/Iron.html#use-interpolation-rpp-parameter-depreciated)
      * [ Changes to MPPI Goal Critic ](../../migration/Iron.html#changes-to-mppi-goal-critic)
      * [ Changes to MPPI Path Angle Critic ](../../migration/Iron.html#changes-to-mppi-path-angle-critic)
      * [ Changes to MPPI Path Handling For Directionality ](../../migration/Iron.html#changes-to-mppi-path-handling-for-directionality)
      * [ Addition of new MPPI Cost Critic ](../../migration/Iron.html#addition-of-new-mppi-cost-critic)
      * [ MPPI Acceleration ](../../migration/Iron.html#mppi-acceleration)
      * [ Move Error Code Enumerations ](../../migration/Iron.html#move-error-code-enumerations)
      * [ Substitution in parameter file ](../../migration/Iron.html#substitution-in-parameter-file)
      * [ Allow Behavior Server Plugins to Access The Action Result ](../../migration/Iron.html#allow-behavior-server-plugins-to-access-the-action-result)
      * [ Smac Planner Debug Param Name Change ](../../migration/Iron.html#smac-planner-debug-param-name-change)
      * [ Smac Planner On Approach to Goal Shortcutting Solutions ](../../migration/Iron.html#smac-planner-on-approach-to-goal-shortcutting-solutions)
      * [ Added GPS Waypoint Follower Server ](../../migration/Iron.html#added-gps-waypoint-follower-server)
      * [ Smac Planner Hybrid-A* New Features ](../../migration/Iron.html#smac-planner-hybrid-a-new-features)
      * [ New node in nav2_collision_monitor: Collision Detector ](../../migration/Iron.html#new-node-in-nav2-collision-monitor-collision-detector)
      * [ Dynamic enabling/disabling of sources/polygons in Collision Monitor/Detector ](../../migration/Iron.html#dynamic-enabling-disabling-of-sources-polygons-in-collision-monitor-detector)
      * [ Expose action server’s result timeout ](../../migration/Iron.html#expose-action-server-s-result-timeout)
      * [ RewrittenYaml could add new parameters to YAMLs ](../../migration/Iron.html#rewrittenyaml-could-add-new-parameters-to-yamls)
      * [ Simple Commander API Allows Multi-Robot Namespacing ](../../migration/Iron.html#simple-commander-api-allows-multi-robot-namespacing)
      * [ Change duration type in wait_action node ](../../migration/Iron.html#change-duration-type-in-wait-action-node)
      * [ The costmap activation fails when required transforms are not available ](../../migration/Iron.html#the-costmap-activation-fails-when-required-transforms-are-not-available)


  * [ ](../../index.html)
  * [ Plugin Tutorials ](../index.html)
  * Writing a New Behavior Tree Plugin
  *


This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP
together.


##  Written by  Markus Buchholz


No packages published


* Product


Explore


  1. Implement the task or process as a ROS2 service or action server completely independent of the behavior tree.
  2. Create a new behavior tree node inheriting from either BtService or BtAction
  3. Implement the virtual functions in a C++ plugin and override any other functions to get the desired behavior when the node is called in the tree.
  4. Compile the plugin and and add the node to the tree.


Sign up


Deriving this BT philosophy we can describe how following BT works by
considering the following example.


In particular, it provides a standard way to implement:


[ .github/  workflows
](/BehaviorTree/BehaviorTree.ROS2/tree/humble/.github/workflows "This path
skips through empty directories")


[ Sign in
](/login?return_to=https%3A%2F%2Fgithub.com%2FBehaviorTree%2FBehaviorTree.ROS2)


* [ Pricing ](/pricing)


[ ](https://github.com/)


* README


[ README.md ](/BehaviorTree/BehaviorTree.ROS2/blob/humble/README.md
"README.md")


* Solutions


##  [ Releases ](/berkeleyauv/behavior_tree/releases)


* [ The ReadME Project  GitHub community articles  ](/readme)


](https://medium.com/jobs-at-medium/work-at-
medium-959d1a85284e?source=post_page-----
775ec0e97856--------------------------------)


    BT_REGISTER_NODES(factory) {
         factory.registerNodeType<Type>("ClientNodeName");
    }


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


In the body of the constructor, we get the input port ` getInput  ` of the
parameter ` wait_duration  ` , which can be configured independently for every
instance of the ` wait  ` node in the tree. It is set in the ` duration  `
parameter and inserted into the ` goal_  ` . The ` goal_  ` class variable is
the goal that the ROS 2 action client will send to the action server. So in
this example, we set the duration to the time we want to wait by so that the
action server knows the specifics of our request.


      * [ Sensor Introduction ](../../setup_guides/sensors/setup_sensors.html#sensor-introduction)
        * [ Common Sensor Messages ](../../setup_guides/sensors/setup_sensors.html#common-sensor-messages)
      * [ Simulating Sensors using Gazebo ](../../setup_guides/sensors/setup_sensors.html#simulating-sensors-using-gazebo)
        * [ Adding Gazebo Plugins to a URDF ](../../setup_guides/sensors/setup_sensors.html#adding-gazebo-plugins-to-a-urdf)
        * [ Launch and Build Files ](../../setup_guides/sensors/setup_sensors.html#launch-and-build-files)
        * [ Build, Run and Verification ](../../setup_guides/sensors/setup_sensors.html#build-run-and-verification)
      * [ Mapping and Localization ](../../setup_guides/sensors/setup_sensors.html#mapping-and-localization)
      * [ Costmap 2D ](../../setup_guides/sensors/setup_sensors.html#costmap-2d)
        * [ Configuring nav2_costmap_2d ](../../setup_guides/sensors/setup_sensors.html#configuring-nav2-costmap-2d)
        * [ Build, Run and Verification ](../../setup_guides/sensors/setup_sensors.html#id2)
      * [ Conclusion ](../../setup_guides/sensors/setup_sensors.html#conclusion)
    * [ Setting Up the Robot’s Footprint ](../../setup_guides/footprint/setup_footprint.html)
      * [ Footprint Introduction ](../../setup_guides/footprint/setup_footprint.html#footprint-introduction)
      * [ Configuring the Robot’s Footprint ](../../setup_guides/footprint/setup_footprint.html#configuring-the-robot-s-footprint)
      * [ Build, Run and Verification ](../../setup_guides/footprint/setup_footprint.html#build-run-and-verification)
      * [ Visualizing Footprint in RViz ](../../setup_guides/footprint/setup_footprint.html#visualizing-footprint-in-rviz)
      * [ Conclusion ](../../setup_guides/footprint/setup_footprint.html#conclusion)
    * [ Setting Up Navigation Plugins ](../../setup_guides/algorithm/select_algorithm.html)
      * [ Planner and Controller Servers ](../../setup_guides/algorithm/select_algorithm.html#planner-and-controller-servers)
      * [ Selecting the Algorithm Plugins ](../../setup_guides/algorithm/select_algorithm.html#selecting-the-algorithm-plugins)
        * [ Planner Server ](../../setup_guides/algorithm/select_algorithm.html#planner-server)
        * [ Controller Server ](../../setup_guides/algorithm/select_algorithm.html#controller-server)
      * [ Conclusion ](../../setup_guides/algorithm/select_algorithm.html#conclusion)
  * [ Robots Using ](../../about/robots.html)
  * [ General Tutorials ](../../tutorials/index.html)
    * [ Navigating with a Physical Turtlebot 3 ](../../tutorials/docs/navigation2_on_real_turtlebot3.html)
      * [ Overview ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#overview)
      * [ Requirements ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#requirements)
      * [ Tutorial Steps ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#tutorial-steps)
        * [ 0- Setup Your Enviroment Variables ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#setup-your-enviroment-variables)
        * [ 1- Launch Turtlebot 3 ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#launch-turtlebot-3)
        * [ 2- Launch Nav2 ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#launch-nav2)
        * [ 3- Launch RVIZ ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#launch-rviz)
        * [ 4- Initialize the Location of Turtlebot 3 ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#initialize-the-location-of-turtlebot-3)
        * [ 5- Send a Goal Pose ](../../tutorials/docs/navigation2_on_real_turtlebot3.html#send-a-goal-pose)
    * [ (SLAM) Navigating While Mapping ](../../tutorials/docs/navigation2_with_slam.html)
      * [ Overview ](../../tutorials/docs/navigation2_with_slam.html#overview)
      * [ Requirements ](../../tutorials/docs/navigation2_with_slam.html#requirements)
      * [ Tutorial Steps ](../../tutorials/docs/navigation2_with_slam.html#tutorial-steps)
        * [ 0- Launch Robot Interfaces ](../../tutorials/docs/navigation2_with_slam.html#launch-robot-interfaces)


[ launch ](/berkeleyauv/behavior_tree/tree/master/launch "launch")


Select this BT XML file in your specific navigation request in `
NavigateToPose  ` or as the default behavior tree in the BT Navigator’s
configuration yaml file.


This commit does not belong to any branch on this repository, and may belong
to a fork outside of the repository.


[ Sign in
](https://medium.com/m/signin?operation=login&redirect=https%3A%2F%2Fmarkus-x-
buchholz.medium.com%2Fbehavior-trees-in-c-for-robotic-applications-
ros2-775ec0e97856&source=post_page---two_column_layout_nav
-----------------------global_nav-----------)


Teams


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* Product


  * [ C++  93.9%  ](/BehaviorTree/BehaviorTree.ROS2/search?l=c%2B%2B)
  * [ CMake  6.1%  ](/BehaviorTree/BehaviorTree.ROS2/search?l=cmake)


    cd /ros2_ws/src/bt_course_files/BehaviorTree.CPP/course_bt

    touch bt_medium.cpp

    // go to VSC  to the same folder where you created bt_medium.cpp

    // paste above code

    // in the same folder modify the CMakeList.txt by adding:
    // CompileExample("bt_medium")

    cd ros2_ws/src/bt_course_files/BehaviorTree.CPP/build
    cmake ..
    make

    // after building is finish

    cd course_bt
    ./bt_medium


Listen


####  Parameters


No

on_cancelled()


Follow


No

on_success()


By Solution


    * [ Topics ](/topics)
    * [ Trending ](/trending)
    * [ Collections ](/collections)


We can describe the above BT as follows,


](https://policy.medium.com/medium-privacy-
policy-f03bf92035c9?source=post_page-----
775ec0e97856--------------------------------)


The architecture of the BT is specified in XML file which is read by the
application. BehaviourTree.CPP framework manages the logical flow ( **tick the
BT node** ) according to XML specification (we say invoke a callback). Nodes
(here tasks) based on the status send the return signal to the “root” — the
main node of the application. The signal can be **SUCCESS, FAILURE, or
RUNNING** .


[ Nav2 ![Logo](../../_static/nav2_logo_powered.png) ](../../index.html)


Terms


#  Behavior Trees. Software Architecture


[ package.xml ](/berkeleyauv/behavior_tree/blob/master/package.xml
"package.xml")


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