generate_nav2_tree_nodes_xml.cpp

// Copyright (c) 2024 Davide Faconti
//
// 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. Reserved.
 
#include <vector>
#include <string>
#include <fstream>
 
#include "behaviortree_cpp/behavior_tree.h"
#include "behaviortree_cpp/bt_factory.h"
#include "behaviortree_cpp/utils/shared_library.h"
#include "behaviortree_cpp/xml_parsing.h"
 
#include "plugins_list.hpp"
#include "nav2_util/string_utils.hpp"
 
int main()
{
  BT::BehaviorTreeFactory factory;
 
  std::vector<std::string> plugins_list = nav2_util::split(nav2::details::BT_BUILTIN_PLUGINS, ';');
 
  for (const auto & plugin : plugins_list) {
    std::cout << "Loading: " << plugin << "\n";
    factory.registerFromPlugin(BT::SharedLibrary::getOSName(plugin));
  }
  std::cout << "\nGenerating file: nav2_tree_nodes.xml\n"
            << "\nCompare it with the one in the git repo and update the latter if necessary.\n";
 
  std::ofstream xml_file;
  xml_file.open("nav2_tree_nodes.xml");
  xml_file << BT::writeTreeNodesModelXML(factory) << std::endl;
  xml_file.close();
 
  return 0;
}