Merge branch 'humble' of github.com:BehaviorTree/BehaviorTree.ROS2 in…

…to humble

.github/workflows/test.yml

@@ -0,0 +1,28 @@
+name: Test
+on:
+ pull_request:
+ push:
+ branches:
+ - humble
+
+jobs:
+ build_and_test:
+ runs-on: ubuntu-latest
+ env:
+ ROS_DISTRO: ${{ matrix.ros_distro }}
+ container:
+ image: rostooling/setup-ros-docker:ubuntu-jammy-latest
+ strategy:
+ fail-fast: false
+ matrix:
+ ros_distro: [humble]
+ steps:
+ - name: Build and run tests
+ id: action-ros-ci
+ uses: ros-tooling/action-ros-ci@v0.3
+ with:
+ target-ros2-distro: ${{ matrix.ros_distro }}
+ - uses: actions/upload-artifact@v1
+ with:
+ name: colcon-logs
+ path: ros_ws/log

README.md

@@ -1,4 +1,5 @@
 # BehaviorTree.ROS2
+[![Test](https://github.com/BehaviorTree/BehaviorTree.ROS2/actions/workflows/test.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.ROS2/actions/workflows/test.yml)
 
 This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP together.
 
@@ -11,8 +12,8 @@ In particular, it provides a standard way to implement:
 
 Our main goals are:
 
-- to minimize the amount of bolierplate.
-- to make asynchonous Actions non-blocking.
+- to minimize the amount of boilerplate.
+- to make asynchronous Actions non-blocking.
 
 Note that this library is compatible **only** with:
 
@@ -27,6 +28,6 @@ wrap your Nodes into plugins that can be loaded at run-time.
 
 A lot of code is either inspired or copied from [Nav2](https://navigation.ros.org/).
 
-To this reason we retain the same license and copyright.
+For this reason, we retain the same license and copyright.
 
 

behaviortree_ros2/package.xml

@@ -11,6 +11,7 @@
 
  <buildtool_depend>ament_cmake</buildtool_depend>
 
+ <depend>libboost-dev</depend>
  <depend>rclcpp</depend>
  <depend>rclcpp_action</depend>
  <depend>behaviortree_cpp</depend>

btcpp_ros2_samples/src/subscriber_test.cpp

@@ -52,16 +52,12 @@ int main(int argc, char **argv)
  params.default_port_value = "btcpp_string";
  factory.registerNodeType<ReceiveString>("ReceiveString", params);
 
+ auto tree = factory.createTreeFromText(xml_text);
+
  while(rclcpp::ok())
  {
- auto tree = factory.createTreeFromText(xml_text);
- for(int i=0; i<10; i++)
- {
- tree.tickWhileRunning();
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
- }
- std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ tree.tickWhileRunning();
  }
 
  return 0;
-}
+}