Behaviors program

[fmrico]

This PR contains:

• A new program to launch testbed in robocup_bringup package
• Finishing adaptation of BT nodes which use BTActionNode<> to use Cascade LN nodes

[fmrico]

This requires fmrico/cascade_lifecycle#11

[Juancams]

Hi @fmrico

First, when building your branch, I have an error in perception. It seems that the getInstance() function does not exist... is it necessary to have some other branch of the perception system or make any changes? Is it our fault?

Then, something that is important is that I have tested the behavior_main.cpp and it seems that when creating the tree with the blackboard to which you have added a CascadeLifecycle it has an execution error.

These are the lines I comment:

auto node = std::make_shared<rclcpp_cascade_lifecycle::CascadeLifecycleNode>(
    "behaviors_main");

...

auto blackboard = BT::Blackboard::create();
blackboard->set("node", node);
BT::Tree tree = factory.createTreeFromFile(xml_file, blackboard);

and this is the specific error:

[behaviors_main-1]   what():  [Any::convert]: no known safe conversion between [std::shared_ptr<rclcpp_cascade_lifecycle::CascadeLifecycleNode>] and [std::shared_ptr<rclcpp_lifecycle::LifecycleNode>]

If you want to see the error better, build in debug with the backward_ros tool and run main.

[Juancams]

Problems solved via phone 😂