Bump 0.8.0

.github/workflows/ros-ci.yml

@@ -75,3 +75,4 @@ jobs:
             physical_ai_server
             physical_ai_interfaces
             rosbag_recorder
+            physical_ai_bt

.gitignore

@@ -707,7 +707,6 @@ CATKIN_IGNORE
 AMENT_IGNORE
 COLCON_IGNORE
 
-
 ##############################
 # ETC.
 ##############################

physical_ai_bt/CHANGELOG.rst

@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package physical_ai_bt
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.8.0 (2026-01-19)
+------------------
+* Initial release of physical_ai_bt package
+* Implemented rule-based behavior tree system with Sequence control node
+* Added trajectory-based actions (MoveArms, MoveLift, MoveHead, Rotate)
+* Added TreeLoader for XML-based configuration with auto-execution mode
+* Contributors: Seongwoo Kim

physical_ai_bt/bt_bringup/launch/bt_node.launch.py

@@ -0,0 +1,93 @@
+#!/usr/bin/env python3
+#
+# Copyright 2026 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Seongwoo Kim
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def launch_setup(context, *args, **kwargs):
+
+    robot_type = LaunchConfiguration('robot_type').perform(context)
+
+    server_pkg_share = get_package_share_directory('physical_ai_server')
+    bt_pkg_share = get_package_share_directory('physical_ai_bt')
+
+    server_config_dir = os.path.join(server_pkg_share, 'config')
+    bt_params_file = 'bt_node_params.yaml'
+    bt_params_path = os.path.join(
+        bt_pkg_share, 'bt_bringup', 'params', bt_params_file
+    )
+    robot_config = f'{robot_type}_config.yaml'
+    robot_config_path = os.path.join(server_config_dir, robot_config)
+
+    if not os.path.exists(robot_config_path):
+        print(f'Warning: Config file not found: {robot_config_path}')
+        print('Falling back to ffw_sg2_rev1_config.yaml')
+        fallback_config = 'ffw_sg2_rev1_config.yaml'
+        robot_config_path = os.path.join(server_config_dir, fallback_config)
+
+    import yaml
+    with open(robot_config_path, 'r') as f:
+        config = yaml.safe_load(f)
+
+    server_config = config.get(
+        'physical_ai_server', {}
+    ).get('ros__parameters', {}).get(robot_type, {})
+    joint_list = server_config.get('joint_list', [])
+    joint_order = server_config.get('joint_order', {})
+    joint_topic_list = server_config.get('joint_topic_list', [])
+
+    bt_params = {
+        f'{robot_type}.joint_list': joint_list,
+        f'{robot_type}.joint_topic_list': joint_topic_list,
+    }
+    for joint_name, order in joint_order.items():
+        bt_params[f'{robot_type}.joint_order.{joint_name}'] = order
+
+    bt_node = Node(
+        package='physical_ai_bt',
+        executable='bt_node',
+        name='bt_node',
+        output='screen',
+        parameters=[
+            bt_params_path,
+            bt_params
+        ]
+    )
+
+    return [bt_node]
+
+
+def generate_launch_description():
+
+    robot_type_arg = DeclareLaunchArgument(
+        'robot_type',
+        default_value='ffw_sg2_rev1',
+        description='Type of robot (e.g., ffw_sg2_rev1)'
+    )
+
+    return LaunchDescription([
+        robot_type_arg,
+        OpaqueFunction(function=launch_setup)
+    ])

physical_ai_bt/bt_bringup/params/bt_node_params.yaml

@@ -0,0 +1,5 @@
+bt_node:
+  ros__parameters:
+    robot_type: 'ffw_sg2_rev1'
+    tree_xml: 'ffw_sg2_rev1.xml'
+    tick_rate: 30.0

physical_ai_bt/package.xml

@@ -0,0 +1,22 @@
+<?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>physical_ai_bt</name>
+  <version>0.8.0</version>
+  <description>
+    Python-based Behavior Tree for Physical AI
+  </description>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache-2.0</license>
+  <author email="kimsw@robotis.com">Seongwoo Kim</author>
+  <depend>rclpy</depend>
+  <depend>physical_ai_interfaces</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>message_filters</depend>
+  <depend>cv_bridge</depend>
+  <depend>trajectory_msgs</depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

physical_ai_bt/physical_ai_bt/__init__.py

@@ -0,0 +1,19 @@
+#!/usr/bin/env python3
+#
+# Copyright 2026 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Seongwoo Kim
+
+"""Physical AI Behavior Tree package."""

physical_ai_bt/physical_ai_bt/actions/__init__.py

@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+#
+# Copyright 2026 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Seongwoo Kim
+
+"""Physical AI Behavior Tree actions package."""
+
+from physical_ai_bt.actions.base_action import BaseAction
+from physical_ai_bt.actions.move_arms import MoveArms
+from physical_ai_bt.actions.move_head import MoveHead
+from physical_ai_bt.actions.move_lift import MoveLift
+from physical_ai_bt.actions.rotate import Rotate
+
+__all__ = [
+    'BaseAction',
+    'MoveArms',
+    'MoveLift',
+    'MoveHead',
+    'Rotate',
+]

physical_ai_bt/physical_ai_bt/actions/base_action.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+#
+# Copyright 2026 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# Author: Seongwoo Kim
+
+"""Base class for action nodes in the behavior tree."""
+
+from physical_ai_bt.bt_core import BTNode
+
+
+class BaseAction(BTNode):
+    """Base class for action nodes in the behavior tree."""
+
+    pass