bdd-exec-ros2

Dependencies

• Python packages:
  • rdf-utils
  • bdd-dsl
  • coord-dsl
• ROS packages:
  • minhnh/bdd_ros2_interfaces

Nodes

Mockup behaviour

The FSM for the pick-place behaviour generates to the Python implementation with coord-dsl. The package is also required to execute the mockup behaviour node.

Virtual environment setup with ROS2

If you want to setup a ROS2 Python virtual environment, you'd need to allow using the ROS2 Python packages in the environment, e.g. with uv in zsh:

source /opt/ros/rolling/setup.zsh
cd $ROS_WS_HOME  # where the 'src' folder is located
uv venv --system-site-packages venv
touch ./venv/COLCON_IGNORE
colcon build

Additionally you'd need to add the following to setup.cfg, if you specify entry_points in setup.py:

[build_scripts]
executable = /usr/bin/env python3

Now you can activate both environments with:

source "$ROS_WS_HOME/venv/bin/activate"
source "$ROS_WS_HOME/install/setup.zsh"