fix issue #61, remove registerNodesIntoFactory

behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp

@@ -65,6 +65,9 @@ class TreeExecutionServer
  // pointer to the global blackboard
  BT::Blackboard::Ptr globalBlackboard();
 
+ // reference to the factory, to allow users to register custom nodes
+ BT::BehaviorTreeFactory& factory();
+
 protected:
  /**
  * @brief Callback invoked after the tree is created.
@@ -75,16 +78,6 @@ class TreeExecutionServer
  virtual void onTreeCreated(BT::Tree& tree)
  {}
 
- /**
- * @brief registerNodesIntoFactory is a callback invoked after the
- * plugins were registered into the BT::BehaviorTreeFactory.
- * It can be used to register additional custom nodes manually.
- *
- * @param factory The factory to use to register nodes
- */
- virtual void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory)
- {}
-
  /**
  * @brief onLoopAfterTick invoked at each loop, after tree.tickOnce().
  * If it returns a valid NodeStatus, the tree will stop and return that status.

behaviortree_ros2/src/bt_executor_parameters.yaml

@@ -26,6 +26,7 @@ bt_server:
  plugins: {
  type: string_array,
  default_value: [],
+ read_only: true,
  description: "List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory",
  validation: {
  unique<>: null,
@@ -34,6 +35,7 @@ bt_server:
  ros_plugins_timeout: {
  type: int,
  default_value: 1000,
+ read_only: true,
  description: "Timeout (ms) used in BT::RosNodeParams",
  validation: {
  bounds<>: [1, 10000]

behaviortree_ros2/src/bt_utils.cpp

@@ -137,9 +137,6 @@ void LoadRosPlugins(BT::BehaviorTreeFactory& factory, const std::string& directo
 void RegisterBehaviorTrees(bt_server::Params& params, BT::BehaviorTreeFactory& factory,
  rclcpp::Node::SharedPtr node)
 {
- // clear the factory and load/reload it with the Behaviors and Trees specified by the user in their [bt_action_server] config yaml
- factory.clearRegisteredBehaviorTrees();
-
  BT::RosNodeParams ros_params;
  ros_params.nh = node;
  ros_params.server_timeout = std::chrono::milliseconds(params.ros_plugins_timeout);

behaviortree_ros2/src/tree_execution_server.cpp

@@ -91,7 +91,6 @@ TreeExecutionServer::TreeExecutionServer(const rclcpp::NodeOptions& options)
 
  // register the users Plugins and BehaviorTree.xml files into the factory
  RegisterBehaviorTrees(p_->params, p_->factory, p_->node);
- registerNodesIntoFactory(p_->factory);
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
@@ -143,14 +142,6 @@ void TreeExecutionServer::execute(
  BT::NodeStatus status = BT::NodeStatus::RUNNING;
  auto action_result = std::make_shared<ExecuteTree::Result>();
 
- // Before executing check if we have new Behaviors or Subtrees to reload
- if(p_->param_listener->is_old(p_->params))
- {
- p_->params = p_->param_listener->get_params();
- RegisterBehaviorTrees(p_->params, p_->factory, p_->node);
- registerNodesIntoFactory(p_->factory);
- }
-
  // Loop until something happens with ROS or the node completes
  try
  {
@@ -262,4 +253,9 @@ BT::Blackboard::Ptr TreeExecutionServer::globalBlackboard()
  return p_->global_blackboard;
 }
 
+BT::BehaviorTreeFactory& TreeExecutionServer::factory()
+{
+ return p_->factory;
+}
+
 } // namespace BT

behaviortree_ros2/tree_execution_server.md

@@ -18,10 +18,13 @@ Furthermore, the user can customize it to:
 
 - Register custom BT Nodes directly (static linking).
 - Attach additional loggers. The **Groot2** publisher will be attached by default.
-- Use the "global blackboard", a new idiom/pattern explained in [this tutorial](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t19_global_blackboard.cpp).
+- Use the "global blackboard", a new idiom/pattern explained in [this tutorial](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t16_global_blackboard.cpp).
 - Customize the feedback of the `rclcpp_action::Server`.
 
-## Customization points
+If you want to register manually a custom Node or an enum,
+you can access the factory directly using the public method `TreeExecutionServer::factory()`.
+
+## Virtual methods
 
 These are the virtual method of `TreeExecutionServer` that can be overridden by the user.
 
@@ -31,12 +34,6 @@ Callback invoked when a tree is created; this happens after `rclcpp_action::Serv
 
 It can be used, for instance, to initialize a logger or the global blackboard.
 
-### void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory)
-
-Called at the beginning, after all the plugins have been loaded.
-
-It can be used to register programmatically more BT.CPP Nodes.
-
 ### std::optional<BT::NodeStatus> onLoopAfterTick(BT::NodeStatus status)
 
 Used to do something after the tree was ticked, in its execution loop.