Description
I implemented Lua Scripting for BehaviorTree.CPP (details on this below) that uses XML content rather than an input port to allow for multi-line scripts in a nicer fashion. I needed to add support for XML content. Feel free to cherry-pick if interested.
The Lua scripting is a really nice thing. I can access fields of a structure for example. Non-existing variables are queried from the blackboard and I can write back any supported type to the blackboard. I wrote the bindings for the few types that I need (ROS messages) and this lack of generality is the reason why I have these nodes in a separate repo. Would you be interested in this work? Before adding this to the upstream repo, we would need a mean to allow the user to define the Lua bindings for his own types and functions. What would be your preferred way to do it?