Behavior Tree Node Reference

Here is an extensive list of all behavior tree nodes that are available out of the box after installing AutoAPMS inside your workspace.

We also include the documentation of those nodes that natively come with BehaviorTree.CPP so you have a better overview.

There's a C++ node model class available for all of the registration names mentioned below. You can include them like so:

#include "auto_apms_behavior_tree/behavior_tree_nodes.hpp"
namespace standard_node_models = auto_apms_behavior_tree::model;

#include "auto_apms_simulation/behavior_tree_nodes.hpp"
namespace simulation_node_models = auto_apms_simulation::model;

#include "auto_apms_px4_behavior/behavior_tree_nodes.hpp"
namespace px4_node_models = auto_apms_px4_behavior::model;

Overview auto-apms

Registration Name	Class Name	Package
AlwaysFailure	None	auto_apms_behavior_tree (BehaviorTree.CPP)
AlwaysSuccess	None	auto_apms_behavior_tree (BehaviorTree.CPP)
AsyncFallback	None	auto_apms_behavior_tree (BehaviorTree.CPP)
AsyncSequence	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Delay	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Fallback	None	auto_apms_behavior_tree (BehaviorTree.CPP)
ForceFailure	None	auto_apms_behavior_tree (BehaviorTree.CPP)
ForceSuccess	None	auto_apms_behavior_tree (BehaviorTree.CPP)
IfThenElse	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Inverter	None	auto_apms_behavior_tree (BehaviorTree.CPP)
KeepRunningUntilFailure	None	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopBool	None	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopDouble	None	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopInt	None	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopString	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Parallel	None	auto_apms_behavior_tree (BehaviorTree.CPP)
ParallelAll	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Precondition	None	auto_apms_behavior_tree (BehaviorTree.CPP)
ReactiveFallback	None	auto_apms_behavior_tree (BehaviorTree.CPP)
ReactiveSequence	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Repeat	None	auto_apms_behavior_tree (BehaviorTree.CPP)
RetryUntilSuccessful	None	auto_apms_behavior_tree (BehaviorTree.CPP)
RunOnce	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Script	None	auto_apms_behavior_tree (BehaviorTree.CPP)
ScriptCondition	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Sequence	None	auto_apms_behavior_tree (BehaviorTree.CPP)
SequenceWithMemory	None	auto_apms_behavior_tree (BehaviorTree.CPP)
SetBlackboard	None	auto_apms_behavior_tree (BehaviorTree.CPP)
SkipUnlessUpdated	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Sleep	None	auto_apms_behavior_tree (BehaviorTree.CPP)
SubTree	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch2	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch3	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch4	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch5	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch6	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Timeout	None	auto_apms_behavior_tree (BehaviorTree.CPP)
UnsetBlackboard	None	auto_apms_behavior_tree (BehaviorTree.CPP)
WaitValueUpdate	None	auto_apms_behavior_tree (BehaviorTree.CPP)
WasEntryUpdated	None	auto_apms_behavior_tree (BehaviorTree.CPP)
WhileDoElse	None	auto_apms_behavior_tree (BehaviorTree.CPP)
Error	auto_apms_behavior_tree::ThrowException	auto_apms_behavior_tree
GetParameter	auto_apms_behavior_tree::GetParameter	auto_apms_behavior_tree
GetParameterBool	auto_apms_behavior_tree::GetParameterBool	auto_apms_behavior_tree
GetParameterBoolVec	auto_apms_behavior_tree::GetParameterBoolVec	auto_apms_behavior_tree
GetParameterByteVec	auto_apms_behavior_tree::GetParameterByteVec	auto_apms_behavior_tree
GetParameterDouble	auto_apms_behavior_tree::GetParameterDouble	auto_apms_behavior_tree
GetParameterDoubleVec	auto_apms_behavior_tree::GetParameterDoubleVec	auto_apms_behavior_tree
GetParameterInt	auto_apms_behavior_tree::GetParameterInt	auto_apms_behavior_tree
GetParameterIntVec	auto_apms_behavior_tree::GetParameterIntVec	auto_apms_behavior_tree
GetParameterString	auto_apms_behavior_tree::GetParameterString	auto_apms_behavior_tree
GetParameterStringVec	auto_apms_behavior_tree::GetParameterStringVec	auto_apms_behavior_tree
HaltExecutor	auto_apms_behavior_tree::HaltExecutor	auto_apms_behavior_tree
HasParameter	auto_apms_behavior_tree::HasParameter	auto_apms_behavior_tree
Logger	auto_apms_behavior_tree::Logger	auto_apms_behavior_tree
PauseExecutor	auto_apms_behavior_tree::PauseExecutor	auto_apms_behavior_tree
PublishPose	auto_apms_behavior_tree::PublishPose	auto_apms_behavior_tree
ResumeExecutor	auto_apms_behavior_tree::ResumeExecutor	auto_apms_behavior_tree
SetBool	auto_apms_behavior_tree::SetBool	auto_apms_behavior_tree
SetEmpty	auto_apms_behavior_tree::SetEmpty	auto_apms_behavior_tree
SetParameter	auto_apms_behavior_tree::SetParameter	auto_apms_behavior_tree
SetParameterBool	auto_apms_behavior_tree::SetParameterBool	auto_apms_behavior_tree
SetParameterBoolVec	auto_apms_behavior_tree::SetParameterBoolVec	auto_apms_behavior_tree
SetParameterByteVec	auto_apms_behavior_tree::SetParameterByteVec	auto_apms_behavior_tree
SetParameterDouble	auto_apms_behavior_tree::SetParameterDouble	auto_apms_behavior_tree
SetParameterDoubleVec	auto_apms_behavior_tree::SetParameterDoubleVec	auto_apms_behavior_tree
SetParameterInt	auto_apms_behavior_tree::SetParameterInt	auto_apms_behavior_tree
SetParameterIntVec	auto_apms_behavior_tree::SetParameterIntVec	auto_apms_behavior_tree
SetParameterString	auto_apms_behavior_tree::SetParameterString	auto_apms_behavior_tree
SetParameterStringVec	auto_apms_behavior_tree::SetParameterStringVec	auto_apms_behavior_tree
SetTrigger	auto_apms_behavior_tree::SetTrigger	auto_apms_behavior_tree
StartExecutor	auto_apms_behavior_tree::StartExecutor	auto_apms_behavior_tree
TerminateExecutor	auto_apms_behavior_tree::TerminateExecutor	auto_apms_behavior_tree
GetRobotState	auto_apms_simulation::GetRobotState	auto_apms_simulation
IsLocationOccupied	auto_apms_simulation::IsLocationOccupied	auto_apms_simulation
NavigateToLocation	auto_apms_simulation::NavigateToLocation	auto_apms_simulation
PickObject	auto_apms_simulation::PickObject	auto_apms_simulation
PlaceObject	auto_apms_simulation::PlaceObject	auto_apms_simulation
RobotSharesCurrentLocation	auto_apms_simulation::RobotSharesCurrentLocation	auto_apms_simulation
SetLocationState	auto_apms_simulation::SetLocationState	auto_apms_simulation

auto_apms_behavior_tree (BehaviorTree.CPP)

AlwaysFailure

C++ Model: auto_apms_behavior_tree::AlwaysFailure

Node Type: Action

Description: No description provided.

This node doesn't have any ports.

AlwaysSuccess

C++ Model: auto_apms_behavior_tree::AlwaysSuccess

Node Type: Action

Description: No description provided.

This node doesn't have any ports.

AsyncFallback

C++ Model: auto_apms_behavior_tree::AsyncFallback

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

AsyncSequence

C++ Model: auto_apms_behavior_tree::AsyncSequence

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

Delay

C++ Model: auto_apms_behavior_tree::Delay

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
delay_msec	unsigned int	❌	Tick the child after a few milliseconds

Fallback

C++ Model: auto_apms_behavior_tree::Fallback

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

ForceFailure

C++ Model: auto_apms_behavior_tree::ForceFailure

Node Type: Decorator

Description: No description provided.

This node doesn't have any ports.

ForceSuccess

C++ Model: auto_apms_behavior_tree::ForceSuccess

Node Type: Decorator

Description: No description provided.

This node doesn't have any ports.

IfThenElse

C++ Model: auto_apms_behavior_tree::IfThenElse

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

Inverter

C++ Model: auto_apms_behavior_tree::Inverter

Node Type: Decorator

Description: No description provided.

This node doesn't have any ports.

KeepRunningUntilFailure

C++ Model: auto_apms_behavior_tree::KeepRunningUntilFailure

Node Type: Decorator

Description: No description provided.

This node doesn't have any ports.

LoopBool

C++ Model: auto_apms_behavior_tree::LoopBool

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	bool	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<bool, std::allocator<bool> > >	❌

LoopDouble

C++ Model: auto_apms_behavior_tree::LoopDouble

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	double	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<double, std::allocator<double> > >	❌

LoopInt

C++ Model: auto_apms_behavior_tree::LoopInt

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	int	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<int, std::allocator<int> > >	❌

LoopString

C++ Model: auto_apms_behavior_tree::LoopString

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	std::string	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >	❌

Parallel

C++ Model: auto_apms_behavior_tree::Parallel

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
failure_count	int	1	number of children that need to fail to trigger a FAILURE
success_count	int	-1	number of children that need to succeed to trigger a SUCCESS

ParallelAll

C++ Model: auto_apms_behavior_tree::ParallelAll

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
max_failures	int	1	If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE

Precondition

C++ Model: auto_apms_behavior_tree::Precondition

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
else	BT::NodeStatus	FAILURE	Return status if condition is false
if	std::string	❌

ReactiveFallback

C++ Model: auto_apms_behavior_tree::ReactiveFallback

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

ReactiveSequence

C++ Model: auto_apms_behavior_tree::ReactiveSequence

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

Repeat

C++ Model: auto_apms_behavior_tree::Repeat

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
num_cycles	int	❌	Repeat a successful child up to N times. Use -1 to create an infinite loop.

RetryUntilSuccessful

C++ Model: auto_apms_behavior_tree::RetryUntilSuccessful

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
num_attempts	int	❌	Execute again a failing child up to N times. Use -1 to create an infinite loop.

RunOnce

C++ Model: auto_apms_behavior_tree::RunOnce

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
then_skip	bool	true	If true, skip after the first execution, otherwise return the same NodeStatus returned once by the child.

Script

C++ Model: auto_apms_behavior_tree::Script

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
code	std::string	❌	Piece of code that can be parsed

ScriptCondition

C++ Model: auto_apms_behavior_tree::ScriptCondition

Node Type: Condition

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
code	BT::AnyTypeAllowed	❌	Piece of code that can be parsed. Must return false or true

Sequence

C++ Model: auto_apms_behavior_tree::Sequence

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

SequenceWithMemory

C++ Model: auto_apms_behavior_tree::SequenceWithMemory

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

SetBlackboard

C++ Model: auto_apms_behavior_tree::SetBlackboard

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
value	BT::AnyTypeAllowed	❌	Value to be written into the output_key

Bidirectional Ports

Port Name	Type	Default Value	Description
output_key	BT::AnyTypeAllowed	❌	Name of the blackboard entry where the value should be written

SkipUnlessUpdated

C++ Model: auto_apms_behavior_tree::SkipUnlessUpdated

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
entry	BT::Any	❌	Entry to check

Sleep

C++ Model: auto_apms_behavior_tree::Sleep

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
msec	unsigned int	❌

SubTree

C++ Model: auto_apms_behavior_tree::SubTree

Node Type: SubTree

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
_autoremap	bool	false	If true, all the ports with the same name will be remapped

Switch2

C++ Model: auto_apms_behavior_tree::Switch2

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch3

C++ Model: auto_apms_behavior_tree::Switch3

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch4

C++ Model: auto_apms_behavior_tree::Switch4

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
case_4	std::string	❌
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch5

C++ Model: auto_apms_behavior_tree::Switch5

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
case_5	std::string	❌
case_4	std::string	❌
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch6

C++ Model: auto_apms_behavior_tree::Switch6

Node Type: Control

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
case_5	std::string	❌
case_4	std::string	❌
case_6	std::string	❌
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Timeout

C++ Model: auto_apms_behavior_tree::Timeout

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
msec	unsigned int	❌	After a certain amount of time, halt() the child if it is still running.

UnsetBlackboard

C++ Model: auto_apms_behavior_tree::UnsetBlackboard

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
key	std::string	❌	Key of the entry to remove

WaitValueUpdate

C++ Model: auto_apms_behavior_tree::WaitValueUpdate

Node Type: Decorator

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
entry	BT::Any	❌	Entry to check

WasEntryUpdated

C++ Model: auto_apms_behavior_tree::WasEntryUpdated

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
entry	BT::Any	❌	Entry to check

WhileDoElse

C++ Model: auto_apms_behavior_tree::WhileDoElse

Node Type: Control

Description: No description provided.

This node doesn't have any ports.

auto_apms_behavior_tree

Error

Plugin Class: auto_apms_behavior_tree::ThrowException

C++ Model: auto_apms_behavior_tree::Error

Node Type: Action

Description: Throws an exception to interrupt behavior tree execution

Input Ports

Input Name	Type	Default Value	Description
message	std::string	❌	Error message. Creates a generic error message if empty.

GetParameter

Plugin Class: auto_apms_behavior_tree::GetParameter

C++ Model: auto_apms_behavior_tree::GetParameter

Node Type: Action

Description: Retrieves a parameter value from a ROS2 node. The type of the output will be BT::Any and the user must make sure to cast it to the correct type when using it.

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	BT::AnyTypeAllowed	❌	Output port for the parameter's value.

GetParameterBool

Plugin Class: auto_apms_behavior_tree::GetParameterBool

C++ Model: auto_apms_behavior_tree::GetParameterBool

Node Type: Action

Description: Retrieves a boolean parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	bool	❌	Output port for the parameter's value.

GetParameterBoolVec

Plugin Class: auto_apms_behavior_tree::GetParameterBoolVec

C++ Model: auto_apms_behavior_tree::GetParameterBoolVec

Node Type: Action

Description: Retrieves a boolean array parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<bool, std::allocator<bool> >	❌	Output port for the parameter's value.

GetParameterByteVec

Plugin Class: auto_apms_behavior_tree::GetParameterByteVec

C++ Model: auto_apms_behavior_tree::GetParameterByteVec

Node Type: Action

Description: Retrieves a byte array parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<unsigned char, std::allocator<unsigned char> >	❌	Output port for the parameter's value.

GetParameterDouble

Plugin Class: auto_apms_behavior_tree::GetParameterDouble

C++ Model: auto_apms_behavior_tree::GetParameterDouble

Node Type: Action

Description: Retrieves a double precision floating point parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	double	❌	Output port for the parameter's value.

GetParameterDoubleVec

Plugin Class: auto_apms_behavior_tree::GetParameterDoubleVec

C++ Model: auto_apms_behavior_tree::GetParameterDoubleVec

Node Type: Action

Description: Retrieves a double precision floating point array parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<double, std::allocator<double> >	❌	Output port for the parameter's value.

GetParameterInt

Plugin Class: auto_apms_behavior_tree::GetParameterInt

C++ Model: auto_apms_behavior_tree::GetParameterInt

Node Type: Action

Description: Retrieves an integer parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	long	❌	Output port for the parameter's value.

GetParameterIntVec

Plugin Class: auto_apms_behavior_tree::GetParameterIntVec

C++ Model: auto_apms_behavior_tree::GetParameterIntVec

Node Type: Action

Description: Retrieves an integer array parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<long, std::allocator<long> >	❌	Output port for the parameter's value.

GetParameterString

Plugin Class: auto_apms_behavior_tree::GetParameterString

C++ Model: auto_apms_behavior_tree::GetParameterString

Node Type: Action

Description: Retrieves a string parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::string	❌	Output port for the parameter's value.

GetParameterStringVec

Plugin Class: auto_apms_behavior_tree::GetParameterStringVec

C++ Model: auto_apms_behavior_tree::GetParameterStringVec

Node Type: Action

Description: Retrieves a string array parameter value from a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Output port for the parameter's value.

HaltExecutor

Plugin Class: auto_apms_behavior_tree::HaltExecutor

C++ Model: auto_apms_behavior_tree::HaltExecutor

Node Type: Action

Description: Halts an executor by sending a halt command

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

HasParameter

Plugin Class: auto_apms_behavior_tree::HasParameter

C++ Model: auto_apms_behavior_tree::HasParameter

Node Type: Action

Description: Checks if a ROS2 node has a specific parameter defined

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Logger

Plugin Class: auto_apms_behavior_tree::Logger

C++ Model: auto_apms_behavior_tree::Logger

Node Type: Action

Description: Logs a message to the ROS2 logging system

Input Ports

Input Name	Type	Default Value	Description
message	BT::AnyTypeAllowed	❌	Message to be logged via rclcpp::Logger.
level	std::string	INFO	Logger level. Must be one of [UNSET, DEBUG, INFO, WARN, ERROR, FATAL] but is not case sensitive.

PauseExecutor

Plugin Class: auto_apms_behavior_tree::PauseExecutor

C++ Model: auto_apms_behavior_tree::PauseExecutor

Node Type: Action

Description: Pauses an executor by sending a pause command

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

PublishPose

Plugin Class: auto_apms_behavior_tree::PublishPose

C++ Model: auto_apms_behavior_tree::PublishPose

Node Type: Condition

Description: Publishes a geometry_msgs/PoseStamped message with position and orientation

Input Ports

Input Name	Type	Default Value	Description
x	double	0.000000	Target x position in meters.
y	double	0.000000	Target y position in meters.
z	double	0.000000	Target z position in meters.
frame_id	std::string	map	Frame ID for the pose.
roll	double	0.000000	Target roll angle in radians (or degrees if use_degrees is true).
use_degrees	bool	false	If true, interpret roll, pitch, yaw as degrees instead of radians.
pitch	double	0.000000	Target pitch angle in radians (or degrees if use_degrees is true).
yaw	double	0.000000	Target yaw angle in radians (or degrees if use_degrees is true).
topic	std::string	❌	Name of the ROS 2 topic to publish to.

ResumeExecutor

Plugin Class: auto_apms_behavior_tree::ResumeExecutor

C++ Model: auto_apms_behavior_tree::ResumeExecutor

Node Type: Action

Description: Resumes a paused executor by sending a resume command

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

SetBool

Plugin Class: auto_apms_behavior_tree::SetBool

C++ Model: auto_apms_behavior_tree::SetBool

Node Type: Action

Description: Sets a std_srvs/SetBool service with the given boolean value

Input Ports

Input Name	Type	Default Value	Description
data	bool	❌	Boolean data to set (true, false, 1, 0).
topic	std::string	❌	Name of the ROS 2 service.

Output Ports

Output Name	Type	Default Value	Description
message	std::string	❌	Service response: informational message.

SetEmpty

Plugin Class: auto_apms_behavior_tree::SetEmpty

C++ Model: auto_apms_behavior_tree::SetEmpty

Node Type: Action

Description: Calls a std_srvs/Empty service

Input Ports

Input Name	Type	Default Value	Description
topic	std::string	❌	Name of the ROS 2 service.

SetParameter

Plugin Class: auto_apms_behavior_tree::SetParameter

C++ Model: auto_apms_behavior_tree::SetParameter

Node Type: Action

Description: Sets a parameter on a ROS2 node. This node can infer the type from a blackboard pointer. For passing a string literal as value, use one of the statically typed versions.

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	BT::AnyTypeAllowed	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterBool

Plugin Class: auto_apms_behavior_tree::SetParameterBool

C++ Model: auto_apms_behavior_tree::SetParameterBool

Node Type: Action

Description: Sets a boolean parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	bool	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterBoolVec

Plugin Class: auto_apms_behavior_tree::SetParameterBoolVec

C++ Model: auto_apms_behavior_tree::SetParameterBoolVec

Node Type: Action

Description: Sets a boolean array parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<bool, std::allocator<bool> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterByteVec

Plugin Class: auto_apms_behavior_tree::SetParameterByteVec

C++ Model: auto_apms_behavior_tree::SetParameterByteVec

Node Type: Action

Description: Sets a byte array parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<unsigned char, std::allocator<unsigned char> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterDouble

Plugin Class: auto_apms_behavior_tree::SetParameterDouble

C++ Model: auto_apms_behavior_tree::SetParameterDouble

Node Type: Action

Description: Sets a double precision floating point parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	double	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterDoubleVec

Plugin Class: auto_apms_behavior_tree::SetParameterDoubleVec

C++ Model: auto_apms_behavior_tree::SetParameterDoubleVec

Node Type: Action

Description: Sets a double precision floating point array parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<double, std::allocator<double> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterInt

Plugin Class: auto_apms_behavior_tree::SetParameterInt

C++ Model: auto_apms_behavior_tree::SetParameterInt

Node Type: Action

Description: Sets an integer parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	long	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterIntVec

Plugin Class: auto_apms_behavior_tree::SetParameterIntVec

C++ Model: auto_apms_behavior_tree::SetParameterIntVec

Node Type: Action

Description: Sets an integer array parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<long, std::allocator<long> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterString

Plugin Class: auto_apms_behavior_tree::SetParameterString

C++ Model: auto_apms_behavior_tree::SetParameterString

Node Type: Action

Description: Sets a string parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::string	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterStringVec

Plugin Class: auto_apms_behavior_tree::SetParameterStringVec

C++ Model: auto_apms_behavior_tree::SetParameterStringVec

Node Type: Action

Description: Sets a string array parameter on a ROS2 node

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetTrigger

Plugin Class: auto_apms_behavior_tree::SetTrigger

C++ Model: auto_apms_behavior_tree::SetTrigger

Node Type: Action

Description: Calls a std_srvs/Trigger service

Input Ports

Input Name	Type	Default Value	Description
topic	std::string	❌	Name of the ROS 2 service.

Output Ports

Output Name	Type	Default Value	Description
message	std::string	❌	Service response: informational message.

StartExecutor

Plugin Class: auto_apms_behavior_tree::StartExecutor

C++ Model: auto_apms_behavior_tree::StartExecutor

Node Type: Action

Description: Starts an executor by calling its start action

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor responsible for building and running the specified behavior tree.
build_request	std::string	❌	String passed to the tree build handler defining which tree is to be built.
build_handler	std::string		Fully qualified class name of the build handler that is supposed to take care of the request. If empty, use the current one.
entrypoint	std::string		Entrypoint for the behavior. If empty, let the build handler determine the entrypoint.
node_manifest	std::string		YAML/JSON formatted string encoding the name and the registration options for the tree nodes supposed to be loaded before building the tree.
clear_blackboard	bool	true	Boolean flag wether to clear the existing blackboard entries before the execution starts or not.
attach	bool	true	Boolean flag wether to attach to the execution process or start in detached mode.

TerminateExecutor

Plugin Class: auto_apms_behavior_tree::TerminateExecutor

C++ Model: auto_apms_behavior_tree::TerminateExecutor

Node Type: Action

Description: Terminates an executor by sending a terminate command

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

auto_apms_simulation

GetRobotState

Plugin Class: auto_apms_simulation::GetRobotState

C++ Model: auto_apms_simulation::GetRobotState

Node Type: Condition

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.

Output Ports

Output Name	Type	Default Value	Description
location	std::string		Current location name.
battery	double		Current battery state [%].

IsLocationOccupied

Plugin Class: auto_apms_simulation::IsLocationOccupied

C++ Model: auto_apms_simulation::IsLocationOccupied

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
target_loc	std::string	❌	Name of the location to test for occupancy.
filter_loc	std::string	.*	Regex filter for locations to match against the target location.
filter_robot	std::string	.*	Regex filter for robots to consider.

NavigateToLocation

Plugin Class: auto_apms_simulation::NavigateToLocation

C++ Model: auto_apms_simulation::NavigateToLocation

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.
target	std::string	❌	Name of the target to navigate to (Terms for the knowledge query are separated by whitespace).

PickObject

Plugin Class: auto_apms_simulation::PickObject

C++ Model: auto_apms_simulation::PickObject

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.
object	std::string		Name of the object to pick. Empty for the nearest object.

PlaceObject

Plugin Class: auto_apms_simulation::PlaceObject

C++ Model: auto_apms_simulation::PlaceObject

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.

RobotSharesCurrentLocation

Plugin Class: auto_apms_simulation::RobotSharesCurrentLocation

C++ Model: auto_apms_simulation::RobotSharesCurrentLocation

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Target robot in question to be the first at the given location.
filter_loc	std::string	.*	Regex filter for locations to consider.

Output Ports

Output Name	Type	Default Value	Description
current_loc	std::string		Current location name.

SetLocationState

Plugin Class: auto_apms_simulation::SetLocationState

C++ Model: auto_apms_simulation::SetLocationState

Node Type: Action

Description: No description provided.

Input Ports

Input Name	Type	Default Value	Description
open	bool	true	Open/Close the location.
location	std::string	❌	Name of the location.
lock	bool	false	Lock/Unlock the location.

Overview auto-apms-px4

Registration Name	Class Name	Package
Arm	auto_apms_px4_behavior::ArmAction	auto_apms_px4_behavior
Disarm	auto_apms_px4_behavior::DisarmAction	auto_apms_px4_behavior
EnableHold	auto_apms_px4_behavior::EnableHoldAction	auto_apms_px4_behavior
GetGlobalPosition	auto_apms_px4_behavior::GetPosition<GlobalPositionMsg>	auto_apms_px4_behavior
GetLocalPosition	auto_apms_px4_behavior::GetPosition<LocalPositionMsg>	auto_apms_px4_behavior
GoTo	auto_apms_px4_behavior::GoToAction	auto_apms_px4_behavior
GoToGlobal	auto_apms_px4_behavior::GoToAction	auto_apms_px4_behavior
GoToLocal	auto_apms_px4_behavior::GoToAction	auto_apms_px4_behavior
Land	auto_apms_px4_behavior::LandAction	auto_apms_px4_behavior
Mission	auto_apms_px4_behavior::MissionAction	auto_apms_px4_behavior
RTL	auto_apms_px4_behavior::RTLAction	auto_apms_px4_behavior
Takeoff	auto_apms_px4_behavior::TakeoffAction	auto_apms_px4_behavior

auto_apms_px4_behavior

Arm

Plugin Class: auto_apms_px4_behavior::ArmAction

C++ Model: auto_apms_px4_behavior::Arm

Node Type: Action

Description: Arms the vehicle, making it ready for takeoff

Input Ports

Input Name	Type	Default Value	Description
wait_until_ready_to_arm	bool	false	Wait for the UAV to be ready for arming. If false and UAV is not ready to arm, will be rejected.

Disarm

Plugin Class: auto_apms_px4_behavior::DisarmAction

C++ Model: auto_apms_px4_behavior::Disarm

Node Type: Action

Description: Disarms the vehicle if it is landed

This node doesn't have any ports.

EnableHold

Plugin Class: auto_apms_px4_behavior::EnableHoldAction

C++ Model: auto_apms_px4_behavior::EnableHold

Node Type: Action

Description: Enables or disables the position loiter mode

This node doesn't have any ports.

GetGlobalPosition

Plugin Class: auto_apms_px4_behavior::GetPosition<GlobalPositionMsg>

C++ Model: auto_apms_px4_behavior::GetGlobalPosition

Node Type: Condition

Description: Gets the current position of the vehicle in the global coordinate frame

Output Ports

Output Name	Type	Default Value	Description
alt	double		Current altitude in meter (AMSL)
lon	double		Current longitude in degree [°]
lat	double		Current latitude in degree [°]
vector	Eigen::Matrix<double, -1, -1, 0, -1, -1>		Current global position vector (latitude [°], longitude [°], altitude AMSL [m])

GetLocalPosition

Plugin Class: auto_apms_px4_behavior::GetPosition<LocalPositionMsg>

C++ Model: auto_apms_px4_behavior::GetLocalPosition

Node Type: Condition

Description: Gets the current position of the vehicle in the local coordinate frame

Output Ports

Output Name	Type	Default Value	Description
down	double		Current down [m] relative to origin
east	double		Current east [m] relative to origin
north	double		Current north [m] relative to origin
vector	Eigen::Matrix<double, -1, -1, 0, -1, -1>		Current local position vector (north [m], east [m], down [m])

GoTo

Plugin Class: auto_apms_px4_behavior::GoToAction

C++ Model: auto_apms_px4_behavior::GoTo

Node Type: Action

Description: Commands the vehicle to go to a specified position. The reference frame can be set via the 'frame' input port

Input Ports

Input Name	Type	Default Value	Description
reached_thresh_yaw	double	7.000000	Maximum heading error [°] under which the position is considered reached
reached_thresh_vel	double	0.300000	Maximum velocity error [m/s] under which the position is considered reached
reached_thresh_pos	double	0.500000	Maximum position error [m] under which the position is considered reached
max_heading_rate	double	30.000000	Maximum heading rate [°/s]
max_vertical_vel	double	5.000000	Maximum vertical velocity [m/s]
max_horizontal_vel	double	10.000000	Maximum horizontal velocity [m/s]
yaw	double	❌	Desired yaw position in degree from north (heading) [-180°, 180)
z	double	❌	Override vector entry Z
y	double	❌	Override vector entry Y
x	double	❌	Override vector entry X
vector	Eigen::Matrix<double, -1, -1, 0, -1, -1>	❌	Target position as a row vector (separated by ';')
frame	std::string	global	Reference frame: 'global' (Latitude, longitude, altitude (AMSL)) or 'local' (North, east, down from start)

GoToGlobal

Plugin Class: auto_apms_px4_behavior::GoToAction

C++ Model: auto_apms_px4_behavior::GoToGlobal

Node Type: Action

Description: Commands the vehicle to go to a specified position in the global coordinate frame

Input Ports

Input Name	Type	Default Value	Description
reached_thresh_yaw	double	7.000000	Maximum heading error [°] under which the position is considered reached
reached_thresh_vel	double	0.300000	Maximum velocity error [m/s] under which the position is considered reached
reached_thresh_pos	double	0.500000	Maximum position error [m] under which the position is considered reached
max_heading_rate	double	30.000000	Maximum heading rate [°/s]
max_vertical_vel	double	5.000000	Maximum vertical velocity [m/s]
max_horizontal_vel	double	10.000000	Maximum horizontal velocity [m/s]
yaw	double	❌	Desired yaw position in degree from north (heading) [-180°, 180)
z	double	❌	Override vector entry Z
y	double	❌	Override vector entry Y
x	double	❌	Override vector entry X
vector	Eigen::Matrix<double, -1, -1, 0, -1, -1>	❌	Target position as a row vector (separated by ';')
frame	std::string	global	Reference frame: 'global' (Latitude, longitude, altitude (AMSL)) or 'local' (North, east, down from start)

GoToLocal

Plugin Class: auto_apms_px4_behavior::GoToAction

C++ Model: auto_apms_px4_behavior::GoToLocal

Node Type: Action

Description: Commands the vehicle to go to a specified position in the local coordinate frame

Input Ports

Input Name	Type	Default Value	Description
reached_thresh_yaw	double	7.000000	Maximum heading error [°] under which the position is considered reached
reached_thresh_vel	double	0.300000	Maximum velocity error [m/s] under which the position is considered reached
reached_thresh_pos	double	0.500000	Maximum position error [m] under which the position is considered reached
max_heading_rate	double	30.000000	Maximum heading rate [°/s]
max_vertical_vel	double	5.000000	Maximum vertical velocity [m/s]
max_horizontal_vel	double	10.000000	Maximum horizontal velocity [m/s]
yaw	double	❌	Desired yaw position in degree from north (heading) [-180°, 180)
z	double	❌	Override vector entry Z
y	double	❌	Override vector entry Y
x	double	❌	Override vector entry X
vector	Eigen::Matrix<double, -1, -1, 0, -1, -1>	❌	Target position as a row vector (separated by ';')
frame	std::string	local	Reference frame: 'global' (Latitude, longitude, altitude (AMSL)) or 'local' (North, east, down from start)

Land

Plugin Class: auto_apms_px4_behavior::LandAction

C++ Model: auto_apms_px4_behavior::Land

Node Type: Action

Description: Commands the vehicle to land at its current position

This node doesn't have any ports.

Mission

Plugin Class: auto_apms_px4_behavior::MissionAction

C++ Model: auto_apms_px4_behavior::Mission

Node Type: Action

Description: Starts a mission that has been previously uploaded to the vehicle

Input Ports

Input Name	Type	Default Value	Description
do_restart	bool	false	Wether to restart (true) or resume (false) the mission.

RTL

Plugin Class: auto_apms_px4_behavior::RTLAction

C++ Model: auto_apms_px4_behavior::RTL

Node Type: Action

Description: Commands the vehicle to return to its home position and land

This node doesn't have any ports.

Takeoff

Plugin Class: auto_apms_px4_behavior::TakeoffAction

C++ Model: auto_apms_px4_behavior::Takeoff

Node Type: Action

Description: Commands the vehicle to take off to a specified altitude

Input Ports

Input Name	Type	Default Value	Description
alt	double	❌	Target takeoff altitude in meter (AMSL)