leanup

dependencies/scenario_execution_py_trees_ros/LICENSE

@@ -0,0 +1,29 @@
+Software License Agreement (BSD License)
+
+Copyright (c) 2024 Intel Labs
+Copyright (c) 2015 Daniel Stonier
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

dependencies/scenario_execution_py_trees_ros/README.md

@@ -0,0 +1,3 @@
+# Scenario Execution Py Trees ROS
+
+This package provides the latest [`py_trees_ros.trees.BehaviourTree`](https://github.com/splintered-reality/py_trees_ros/blob/247cf47d509f827bb24464be376e8ed2ddefc0fb/py_trees_ros/trees.py#L216) that is not yet part of a release package.

dependencies/scenario_execution_py_trees_ros/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>scenario_execution_py_trees_ros</name>
+  <version>1.2.0</version>
+  <description>Fixes in py-trees-ros not yet release</description>
+  <author email="[email protected]">Intel Labs</author>
+  <maintainer email="[email protected]">Intel Labs</maintainer>
+  <license file="LICENSE">BSD-3-Clause</license>
+
+  <exec_depend>py_trees_ros</exec_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

dependencies/scenario_execution_py_trees_ros/scenario_execution_py_trees_ros/__init__.py

@@ -0,0 +1,32 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2024 Intel Labs
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+from . import trees

scenario_execution_ros/scenario_execution_ros/py_trees_ros_trees.py → dependencies/scenario_execution_py_trees_ros/scenario_execution_py_trees_ros/trees.py

@@ -1,5 +1,6 @@
 # Software License Agreement (BSD License)
 #
+# Copyright (c) 2024 Intel Labs
 # Copyright (c) 2015 Daniel Stonier
 # All rights reserved.
 #
@@ -29,6 +30,8 @@
 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
+#
+# SPDX-License-Identifier: BSD-3-Clause
 
 import typing
 
@@ -38,15 +41,15 @@
 import rclpy
 
 from py_trees_ros import blackboard
-from py_trees_ros import conversions
 from py_trees_ros import exceptions
 from py_trees_ros import utilities
 from py_trees_ros import visitors
-from py_trees_ros.trees import BehaviourTree as BehaviourTreeRos
-from py_trees_ros_trees import SnapshotStream
+
+from py_trees_ros.trees import BehaviourTree
+from py_trees_ros.trees import SnapshotStream
 
 
-class BehaviourTree(BehaviourTreeRos):
+class BehaviourTreeKwargs(BehaviourTree):
     """
     Extend the :class:`py_trees_ros.trees.BehaviourTree` class with a required feature that is not yet available
     as a release.
@@ -198,7 +201,8 @@ def setup(
         # Behaviours
         ########################################
         try:
-            super().setup(
+            py_trees.trees.BehaviourTree.setup(
+                self,
                 timeout=setup_timeout,
                 visitor=visitor,
                 node=self.node,

dependencies/scenario_execution_py_trees_ros/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/scenario_execution_py_trees_ros
+[install]
+install_scripts=$base/lib/scenario_execution_py_trees_ros

dependencies/scenario_execution_py_trees_ros/setup.py

@@ -0,0 +1,51 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2024 Intel Labs
+
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+""" Setup python package """
+from setuptools import find_namespace_packages, setup
+
+PACKAGE_NAME = 'scenario_execution_py_trees_ros'
+
+setup(
+    name=PACKAGE_NAME,
+    version='1.2.0',
+    packages=find_namespace_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml'])
+    ],
+    zip_safe=True,
+    maintainer='Intel Labs',
+    maintainer_email='[email protected]',
+    description='Scenario Execution library for Gazebo',
+    license='BSD-3-Clause',
+)

scenario_execution_ros/package.xml

@@ -16,6 +16,7 @@
   <exec_depend>py_trees</exec_depend>
   <exec_depend>py_trees_ros</exec_depend>
   <exec_depend>py_trees_ros_interfaces</exec_depend>
+  <exec_depend>scenario_execution_py_trees_ros</exec_depend>
   <exec_depend>visualization_msgs</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>

scenario_execution_ros/scenario_execution_ros/scenario_execution_ros.py

@@ -17,7 +17,7 @@
 """ Main entry for scenario_execution_ros """
 import sys
 import rclpy  # pylint: disable=import-error
-import py_trees_ros  # pylint: disable=import-error
+import scenario_execution_py_trees_ros
 from py_trees_ros_interfaces.srv import OpenSnapshotStream
 from scenario_execution import ScenarioExecution, ShutdownHandler
 from .logging_ros import RosLogger
@@ -92,9 +92,9 @@ def setup_behaviour_tree(self, tree):
             tree [py_trees.behaviour.Behaviour]: root of the behaviour tree
 
         return:
-            py_trees_ros.trees.BehaviourTree
+            scenario_execution_py_trees_ros.trees.BehaviourTreeKwargs
         """
-        return py_trees_ros.trees.BehaviourTree(tree)
+        return scenario_execution_py_trees_ros.trees.BehaviourTreeKwargs(tree)
 
     def post_setup(self):
         request = OpenSnapshotStream.Request()