The project runs a mission server that accepts and launchs missions on the AUV prototype for autonomous operations. It also handles the generation of custom Behavior Tree nodes used within these missions. The mission server oversees execution from start to finish, providing real-time control and feedback throughout the operation.

• Humble

• ament_cmake
• rclcpp
• rclcpp_action
• behaviortree_cpp
• std_msgs
• std_srvs

• sonia_common_ros2

• tinyxml2

sonia_bt_missions contains the missions used for autonomous operations as well as the generated sonia behaviortree nodes required by groot. The missions are created using Groot2, an application that helps interact with behaviortree nodes.

• Name: Mission_server

To build the project, the following commands should be run directly from your ROS2 workspace.

colcon build --packages-select sonia_bt_runner --symlink-install
source install/setup.bash

Required environment variables to launch the project

export SONIA_WS={path_to_your_ros2_workspace}

replace {path_to_your_ros2_workspace} with the absolute path to your ros2 workspace

The command generates an xml file of custom behaviortree nodes required by groot to create sonia missions.

ros2 run sonia_bt_runner gen_nodes

The command launchs the mission server

ros2 launch sonia_bt_runner launch.py

ros2 node list
ros2 node info /Mission_server
ros2 topic echo /mission_server/status_report
ros2 param list /Mission_server

• sonia_common_ros2
• BehaviorTree.CPP
• Groot2