Add BT.CPP solutions to Problems 2, 3, and 4

[sea-bass]

This PR:

• Fixes the Problem 2 solution
• Adds a really, really, really bad (but working) solution to Problem 3
• Adds a similarly bad solution to Problem 4, but it can solve the task with only some minor inefficiencies (and a potential issue with canceling Navigate) actions. It also shows subtrees and port remapping quite well.

@facontidavide feel free to take over this PR with better solutions as you see fit

[facontidavide]

Thanks a lot @sea-bass . Do we want to give th full solution to everyone. isn't this supposed to be an excercise?

[matthias-mayr]

Thanks a lot @sea-bass . Do we want to give th full solution to everyone. isn't this supposed to be an excercise?

At least I voted for providing solutions as well. If people want to cheat, I don't care - they are here voluntarily. Maybe some people get severely stuck and need a good indication on where to go.

At least for SkiROS2, the later problems should also build on earlier ones, so if someone was not able to solve p1 or p2, I want them to be able to hop back in and copy the solutions from previous problems.

[sea-bass]

Agree with @matthias-mayr -- these are the solution trees. Presumably the workshop will involve opening up Groot and building these from scratch, but referring to these XMLs as/if needed.

[ct2034]

I was thinking like you before, @facontidavide.
But now I also like the idea of treating the participants as adults and my convince stuff also contains the full solutions.

[ct2034]

I was thinking like you before, @facontidavide. But now I also like the idea of treating the participants as adults and my convince stuff also contains the full solutions.

However, maybe we could move them to another folder. Something like solutions. Because right now, the readme suggests creating your trees in the technologies/BehaviorTree.CPP/pyrobosim_btcpp/trees folder. But when the participants navigate there, they find all the solutions and then their work may feel a bit pointless, I guess.

[sea-bass]

All PR comments implemented, and I got an (almost fully) working Problem 4 solution!

[sea-bass]

@facontidavide I am getting sporadic errors canceling the Navigate action when the battery going low coincides with that... I'm not 100% sure if the bug is on PyRoboSim or BT.CPP end, since the FlexBE and ros_bt_py examples cancel properly, as do my unit tests.

[ct2034]

I am at the airport waiting for the plane from Abu Dhabi to Copenhagen. So I will not be able to look at this for the next 12h. ;)

…

________________________________ From: Sebastian Castro ***@***.***> Sent: Sunday, October 20, 2024 12:28:27 AM To: ros-wg-delib/roscon24-workshop ***@***.***> Cc: Henkel Christian (CR/ASD1) ***@***.***>; Review requested ***@***.***> Subject: Re: [ros-wg-delib/roscon24-workshop] Add simple BT.CPP solutions to Problems 2 and 3 (PR #72) @facontidavide<https://github.com/facontidavide> I am getting sporadic errors canceling the Navigate action when the battery going low coincides with that... I'm not 100% sure if the bug is on PyRoboSim or BT.CPP end, since the FlexBE and ros_bt_py examples cancel properly, as do my unit tests. — Reply to this email directly, view it on GitHub<#72 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/ABVHERPZHCMRGFP4M5YDEYTZ4K6GXAVCNFSM6AAAAABQCUIWROVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDIMRUGE4TMNZRHA>. You are receiving this because your review was requested.Message ID: ***@***.***>

[facontidavide]

I too the liberty to push directly to main some cleanup of problem 1 and 2.
d6b8531

Thanks a lot!!!