when use roslaunch ltl_automaton_planner study_2.launch, it broke ,can you help me? tianks!!

[ChaselLau666]

[ChaselLau666]

log.txt

[ChaselLau666]

log.txt is presented

[zzhou387]

Hello,

Thanks for your feedback. What behavior_tree_cpp_v3 version are you using? This problem might be caused by some recent updates of the behavior tree package. Could you try the binary version:

sudo apt-get install ros-noetic-behaviortree-cpp-v3

[ChaselLau666]

I tried what you said, but still can't solve the problem. gazebo will soon flash back

[ChaselLau666]

[ChaselLau666]

log.txt

[zzhou387]

This seems still crashing due to the BT node. Can you build from source given this version of BT:
https://github.com/BehaviorTree/BehaviorTree.CPP/tree/3.5.6
Also, remember to do catkin clean and rebuild your workspace when you are changing the dependency version.

[ChaselLau666]

This still doesn't solve my problem, it still shows the same error as before. I would like to ask, do I need to modify the cmakelist file before catkin build? Thank you for your patient answer

[zzhou387]

I'm still trying to replicate the problem. Let me get back to you by the end of this week. Thank you.

[ChaselLau666]

This still doesn't solve my problem, it still shows the same error as before. If possible, is there any way to tell me how to verify that the behavior tree module I installed is functioning properly?

[zzhou387]

This still doesn't solve my problem, it still shows the same error as before. If possible, is there any way to tell me how to verify that the behavior tree module I installed is functioning properly?

Hello, I was able to reproduce the problem and the issue indeed came from the behavior_tree_cpp_v3 version. There used to be a typo for the node name RetryUntilSuccesful and got fixed after v3.6.0: https://github.com/BehaviorTree/BehaviorTree.CPP/blob/a28df0f77ddcea7915693f276b27147b75d2c07f/CHANGELOG.rst#360-2021-11-10
Technically, the error you reported should be fixed by changing the BT version (not too sure why it complained about the data type mismatch but I saw the same error). Can you make sure you have done catkin clean for your entire workspace, then remove the binary version of BT:

sudo apt-get remove ros-noetic(or melodic)-behaviortree-cpp-v3

Clone this version of BT to the same workspace:
https://github.com/BehaviorTree/BehaviorTree.CPP/tree/3.5.6
Then catkin build everything again.

If this still doesn't solve your problem, I will try to come up with a docker file when I get a chance.

[ChaselLau666]

study_2 .log

[ChaselLau666]

After your guidance, the behavior tree module no longer reports errors. It seems to have solved part of the problem, but the previous errors still exist. It seems to be an error in the TF data. Thank you for your answer! My log file has been uploaded

[ChaselLau666]

[ChaselLau666]

[ChaselLau666]

[ChaselLau666]

[ChaselLau666]

[zzhou387]

Some gazebo plugins might be missing. Could you try

sudo apt-get install ros-noetic-gazebo*

and run again?

[ChaselLau666]

It still doesn't solve the problem. When I use the roslaunch ltl_automaton_planner study_2.launch command, it still crashes.

[ChaselLau666]

[ChaselLau666]

[ChaselLau666]

I think it is an error in the urdf model or an error in tf data