First jazzy release

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
grupo-avispa · Feb 11, 2025 · 7b50370 · 7b50370
1 parent 9ef4af2
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -5,7 +5,7 @@ name: Build
 
 on:
   push:
-    branches: [main, humble]
+    branches: [main, jazzy, humble]
   pull_request:
 
 env:
@@ -26,7 +26,7 @@ jobs:
             rasa_bt
             rasa_msgs
             rasa_ros
-          target-ros2-distro: humble
+          target-ros2-distro: jazzy
           colcon-defaults: |
             {
               "build": {

diff --git a/README.md b/README.md
@@ -1,5 +1,5 @@
 # rasa_ros
-![ROS2](https://img.shields.io/badge/ros2-humble-blue?logo=ros&logoColor=white)
+![ROS2](https://img.shields.io/badge/ros2-jazzy-blue?logo=ros&logoColor=white)
 [![License](https://img.shields.io/badge/License-Apache%202.0-green.svg)](https://opensource.org/licenses/Apache-2.0)
 [![Build](https://github.com/grupo-avispa/rasa_ros/actions/workflows/build.yml/badge.svg?branch=main)](https://github.com/grupo-avispa/rasa_ros/actions/workflows/build.yml)
 

diff --git a/rasa_bt/CHANGELOG.rst b/rasa_bt/CHANGELOG.rst
@@ -0,0 +1,13 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package rasa_bt
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (11-02-2025)
+------------------
+* First jazzy release.
+* Move to BehaviorTree 4.6.
+
+0.1.0 (31-01-2025)
+------------------
+* Added BT nodes for Rasa.
+* Contributors: Alberto Tudela
diff --git a/rasa_bt/CMakeLists.txt b/rasa_bt/CMakeLists.txt
@@ -50,7 +50,7 @@ endif()
 # ###############################################
 # # Find ament macros and libraries
 find_package(ament_cmake REQUIRED)
-find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
 find_package(nav2_behavior_tree REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
@@ -69,12 +69,13 @@ foreach(bt_plugin ${plugin_libs})
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
   )
   target_link_libraries(${bt_plugin} PUBLIC
+    behaviortree_cpp::behaviortree_cpp
     rclcpp::rclcpp
     rclcpp_action::rclcpp_action
     rclcpp_lifecycle::rclcpp_lifecycle
     ${rasa_msgs_TARGETS}
   )
-  ament_target_dependencies(${bt_plugin} PUBLIC behaviortree_cpp_v3 nav2_behavior_tree) # TODO(ajtudela): Fix this in jazzy
+  ament_target_dependencies(${bt_plugin} PUBLIC nav2_behavior_tree) # TODO(ajtudela): Fix this in kilted
   target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
 endforeach()
 
@@ -114,7 +115,7 @@ endif()
 ament_export_include_directories(include/${PROJECT_NAME})
 ament_export_libraries()
 ament_export_dependencies(
-  behaviortree_cpp_v3
+  behaviortree_cpp
   nav2_behavior_tree
   rclcpp
   rclcpp_action

diff --git a/rasa_bt/include/rasa_bt/action/bt_types.hpp b/rasa_bt/include/rasa_bt/action/bt_types.hpp
@@ -16,18 +16,39 @@
 #ifndef RASA_BT__ACTION__BT_TYPES_HPP_
 #define RASA_BT__ACTION__BT_TYPES_HPP_
 
-#include <behaviortree_cpp_v3/behavior_tree.h>
-
 #include <string>
 
+#include "behaviortree_cpp/behavior_tree.h"
+#include "behaviortree_cpp/json_export.h"
 #include "rasa_msgs/msg/entity.hpp"
 #include "rasa_msgs/msg/intent.hpp"
 
+// Allow bi-directional convertion to JSON
+BT_JSON_CONVERTER(rasa_msgs::msg::Entity, entity)
+{
+  add_field("start", &entity.start);
+  add_field("end", &entity.end);
+  add_field("value", &entity.value);
+  add_field("entity", &entity.entity);
+  add_field("confidence", &entity.confidence);
+}
+
+BT_JSON_CONVERTER(rasa_msgs::msg::Intent, intent)
+{
+  add_field("confidence", &intent.confidence);
+  add_field("name", &intent.name);
+}
+
 // Template specialization to converts a string to Goal.
 namespace BT
 {
 template<> inline rasa_msgs::msg::Entity convertFromString(BT::StringView str)
 {
+  if (StartWith(str, "json:")) {
+    str.remove_prefix(5);
+    return convertFromJSON<rasa_msgs::msg::Entity>(str);
+  }
+
   rasa_msgs::msg::Entity output;
   if (!str.empty()) {
     // We expect values separated by ;
@@ -47,6 +68,11 @@ template<> inline rasa_msgs::msg::Entity convertFromString(BT::StringView str)
 
 template<> inline rasa_msgs::msg::Intent convertFromString(BT::StringView str)
 {
+  if (StartWith(str, "json:")) {
+    str.remove_prefix(5);
+    return convertFromJSON<rasa_msgs::msg::Intent>(str);
+  }
+
   // We expect real numbers separated by ;
   auto parts = splitString(str, ';');
   if (parts.size() != 2) {

diff --git a/rasa_bt/package.xml b/rasa_bt/package.xml
@@ -2,13 +2,13 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rasa_bt</name>
-  <version>1.0.0</version>
+  <version>0.1.1</version>
   <description>A package containing behavior trees plugins for the rasa_ros stack.</description>
   <maintainer email="ajtudela@gmail.com">Alberto Tudela</maintainer>
   <license>Apache-2.0</license>
   <author email="ajtudela@gmail.com">Alberto Tudela</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>behaviortree_cpp_v3</depend>
+  <depend>behaviortree_cpp</depend>
   <depend>nav2_behavior_tree</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>

diff --git a/rasa_bt/src/action/parse_action.cpp b/rasa_bt/src/action/parse_action.cpp
@@ -50,7 +50,7 @@ BT::NodeStatus ParseAction::on_success()
 
 }  // namespace rasa_bt
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   BT::NodeBuilder builder =

diff --git a/rasa_bt/test/CMakeLists.txt b/rasa_bt/test/CMakeLists.txt
@@ -10,5 +10,5 @@ target_link_libraries(test_register
   rclcpp::rclcpp
 )
 ament_target_dependencies(test_register
-  behaviortree_cpp_v3
+  behaviortree_cpp
 )
diff --git a/rasa_bt/test/action/CMakeLists.txt b/rasa_bt/test/action/CMakeLists.txt
@@ -1,8 +1,9 @@
+find_package(ament_index_cpp REQUIRED)
+
 # Test for the parse action
-ament_add_gtest(test_parse_action
-  test_parse_action.cpp
-)
+ament_add_gtest(test_parse_action test_parse_action.cpp)
 target_link_libraries(test_parse_action
+  ament_index_cpp::ament_index_cpp
   rasa_parse_action_bt_node
 )
 ament_target_dependencies(test_parse_action

diff --git a/rasa_bt/test/action/test_parse_action.cpp b/rasa_bt/test/action/test_parse_action.cpp
@@ -18,8 +18,8 @@
 #include <set>
 #include <string>
 
-#include <ament_index_cpp/get_package_share_directory.hpp>
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "ament_index_cpp/get_package_share_directory.hpp"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "nav2_behavior_tree/utils/test_action_server.hpp"
 #include "rasa_bt/action/parse_action.hpp"

diff --git a/rasa_bt/test/test_register.cpp b/rasa_bt/test/test_register.cpp
@@ -14,8 +14,8 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
-#include "behaviortree_cpp_v3/bt_factory.h"
-#include "behaviortree_cpp_v3/utils/shared_library.h"
+#include "behaviortree_cpp/bt_factory.h"
+#include "behaviortree_cpp/utils/shared_library.h"
 #include "rclcpp/rclcpp.hpp"
 
 TEST(WhisperBT, register_nodes)

diff --git a/rasa_msgs/CHANGELOG.rst b/rasa_msgs/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package rasa_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.1 (11-02-2025)
+------------------
+* First jazzy release.
+
 0.1.0 (16-01-2025)
 ------------------
 * Initial release.

diff --git a/rasa_msgs/package.xml b/rasa_msgs/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rasa_msgs</name>
-  <version>0.1.0</version>
+  <version>0.1.1</version>
   <description>ROS 2 message definitions for Rasa Open Source</description>
   <maintainer email="ajtudela@gmail.com">Alberto Tudela</maintainer>
   <license>Apache-2.0</license>

diff --git a/rasa_ros/CHANGELOG.rst b/rasa_ros/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package rasa_ros
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.1 (11-02-2025)
+------------------
+* First jazzy release.
+
 0.1.0 (17-01-2025)
 ------------------
 * Initial release.

diff --git a/rasa_ros/README.md b/rasa_ros/README.md
@@ -8,7 +8,7 @@ This package is a ROS2 wrapper for the natural language understanding (NLU) [Ras
 
 #### Dependencies
 
-- [Robot Operating System (ROS) 2](https://docs.ros.org/en/humble/) (middleware for robotics),
+- [Robot Operating System (ROS) 2](https://docs.ros.org/en/jazzy/) (middleware for robotics),
 
 
 #### Building
@@ -18,7 +18,7 @@ To build from source, clone the latest version from the main repository into you
 cd colcon_workspace/src
 git clone https://github.com/grupo-avispa/rasa_ros.git -b main
 cd colcon_workspace
-rosdep install -i --from-path src --rosdistro humble -y
+rosdep install -i --from-path src --rosdistro jazzy -y
 colcon build --symlink-install
 ```
 
@@ -60,6 +60,4 @@ This node has an action server that receives a string with a message and returns
 
 	Port of the Rasa server.
 
-[Ubuntu]: https://ubuntu.com/
-[ROS2]: https://docs.ros.org/en/humble/