Standardise Py-Trees

User Story/Description

As a Developer I want to standardise the intelligence Py-Trees and behaviours so that there is only one way to create them and so that every behaviour is compatible to every behaviour tree. This will make creation of behaviour scenario trees straight-forward and easier.

Definition of Done

The standardisation is done when the implementation of behaviour scenario trees and behaviours is clear and have one template to be followed by.

How

1. Create a template for behaviour scenario trees and behaviours corresponding to the newer versions of their implementation.

2. Create a general action behaviour and a general service behaviour. Create two versions of respective where the goal/request can be sent from blackboard or directly.

3. Rewrite older versions of behaviour scenario trees and behaviours so they mirror the newer versions and is followed by the template.

Resources

Py_trees libraries: http://repo.ros2.org/status_page/ros_foxy_default.html?q=py_trees