Getting Started¶

Installation¶

Installing from binary packages¶

Installation form binary packages is currently not supported, but will be added in the future.

Installing from source¶

To install ros_bt_py from source you need to follow these steps:

Create a colcon workspace. (If you already have a colcon workspace you can skip these steps.)

Create a new folder with the name of the workspace, e.g. test_ws

Inside this folder a folder called src.

Source your ROS2 installation source /opt/ros/*ros2 version*/setup.[bash|zsh|sh]

Run colcon build

Clone the ros_bt_py` repo_ from the `src folder.
Install all dependencies via rosdep install --from-paths . --ignore-src -y.
From the test_ws folder call colcon build.
Run source install/setup.[bash|zsh|sh] to load the build packages.

Now ros_bt_py is build and installed in your workspace and can be used.

If this is your first time using ros_bt_py you should start by checking out the Basic Tutorial.

Running ros_bt_py¶

The command

ros2 launch ros_bt_py ros_bt_py.launch.py

will start a BT server and the rosbridge and webserver needed for the GUI. Afterwards, you can open http://localhost:8085/index.html to use the editor. Alternatively, or if you run bt_py remotely or inside a container, you can also use the address shown in your shell.

Launch Options¶

To learn more about launch options and advanced launchfile usage see Advanced Launch Configuration

Launch Options¶
Launch Argument	Description	Default Value	Launch File
robot_namespace	Namespace to launch all ros_bt_py nodes in!	/	ros_bt_py
node_modules	List of python packages that contain nodes to be loaded on startup.	“[‘ros_bt_py.nodes’,’ros_bt_py.ros_nodes’]”	ros_bt_py
enable_web_interface	Start web GUI on startup.	False	ros_bt_py
show_traceback_on_exception	Show error traceback when an exception rises.	True	ros_bt_py
diagnostics_frequency_hz	Publishing frequency for diagnostics msgs.	1.0	ros_bt_py
load_default_tree	Load the default tree on startup!	False	ros_bt_py
load_default_tree_permissive	Load the default tree in permissive mode on startup!	False	ros_bt_py
default_tree_path	Path to the default tree to load on startup!	“”	ros_bt_py
default_tree_tick_frequency_hz	Frequency with which to tick the default tree loaded on startup!	10.0	ros_bt_py
default_tree_control_command	Command to execute per default after loading the default tree on startup!	2	ros_bt_py
web_server_port	Port to use for the web interface.	8085	ros_bt_py & ros_bt_py_interfaces
web_server_address	IP address to use for the web interface. Default value uses all IP addresses of the host.	0.0.0.0	ros_bt_py & ros_bt_py_interfaces

Stand-alone Web Interface¶

The web interface can be launched stand alone of the library, using the following command:

ros2 launch ros_bt_py_web_gui ros_bt_py_web_gui.launch.py web_server_port:=8085 web_server_address:=0.0.0.0