It was modified for running on Jazzy. It was added some dependencies and changed the BT implementation due to on Jazzy Behaviours Tree works with V4. In some CMakelists were added dependencies not mandatory for Humble, but there are installed in Jazzy. The system was tested on Multirotor Simulator.

Basic Info

Description of contribution in a few bullet points

• Jazzy migration
• Compatibility with jazzy version about ament and another cross compilation systems in ROS 2.
• Change the compatibility with BTv4
• It was added some lines to create the behaviour tree in BT4, every dependencies were changed.
• Some header files had lower mistakes about how it works in Jazzy.

Description of documentation updates required from your changes

Future work that may be required in bullet points

• More platform must be tested to guarantee fully compatibility in migration to Jazzy