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AutoAPMS
Streamlining behaviors in ROS 2
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AutoAPMS
Streamlining behaviors in ROS 2
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| ▼Nauto_apms_behavior_tree | Powerful tooling for incorporating behavior trees for task development |
| ▼Ncore | Core API for AutoAPMS's behavior tree implementation |
| CBehaviorResource | Class containing behavior resource data |
| CBehaviorResourceIdentity | Struct that encapsulates the identity string for a registered behavior |
| CBehaviorResourceTemplate | Helper temlpate class for creating behavior resource abstractions |
| CLeafNodeModelType | Abstract base for automatically generated model classes of behavior tree nodes that are not allowed to have any children |
| CNodeManifest | Data structure for information about which behavior tree node plugin to load and how to configure them |
| CNodeManifestResource | Class containing behavior tree node manifest resource data |
| CNodeManifestResourceIdentity | Struct that encapsulates the identity string for a registered behavior tree node manifest |
| CNodeModelType | Abstract base for all automatically generated behavior tree node model classes to be used in interaction with the TreeDocument API |
| CNodeRegistrationFromLibraryAdapter | A node registration interface that is able to load and registers behavior tree nodes from a shared library using BT::BehaviorTreeFactory::registerFromPlugin |
| CNodeRegistrationInterface | Interface used for registering behavior tree node plugins |
| CNodeRegistrationLoader | A pluginlib::ClassLoader specifically for loading installed behavior tree node plugins |
| CNodeRegistrationOptions | Parameters for loading and registering a behavior tree node class from a shared library using e.g. NodeRegistrationLoader |
| CRosActionNode | Generic behavior tree node wrapper for a ROS 2 action client |
| CRosActionNodeBase | ROS-aware wrapper for the basic BT::ActionNodeBase (generic asynchronous action) |
| CRosConditionNode | ROS-aware wrapper for the basic BT::ConditionNode |
| CRosControlNode | ROS-aware wrapper for the basic BT::ControlNode (a node with one or more children) |
| CRosDecoratorNode | ROS-aware wrapper for the basic BT::DecoratorNode (a node with exactly one child) |
| CRosNodeBase | Common state and node-manifest support shared by the ROS-aware behavior tree node base classes |
| CRosNodeContext | Additional parameters specific to ROS 2 determined at runtime by TreeBuilder |
| CRosPublisherNode | Generic behavior tree node wrapper for a ROS 2 publisher |
| CRosServiceNode | Generic behavior tree node wrapper for a ROS 2 service client |
| CRosSubscriberNode | Generic behavior tree node wrapper for a ROS 2 subscriber |
| CScript | Class that encapsulates behavior tree script expressions |
| CTreeBuilder | Class for configuring and instantiating behavior trees |
| ▼CTreeDocument | Document Object Model (DOM) for the behavior tree XML schema. This class offers a programmatic approach for building behavior trees and stores the registration data of all associated nodes |
| ▼CNodeElement | Handle for a single node of a TreeDocument |
| CChildIterator | Forward iterator for traversing the first-level children of a node |
| CTreeElement | Handle for a single behavior tree of a TreeDocument |
| CTreeResource | Class containing behavior tree resource data |
| CTreeResourceIdentity | Struct that encapsulates the identity string for a registered behavior tree |
| ▼Nmodel | Models for all available behavior tree nodes |
| CSubTree | Subtree behavior tree node model |
| CActionBasedTreeExecutorNode | ROS 2 node template for executing behavior trees triggered by a custom ROS 2 action goal |
| CChangeStateTemplate | Template for ChangeState nodes |
| CCompositionLoadNode | Loads a composable node plugin into a running ROS 2 component container |
| CCompositionUnloadNode | Unloads a composable node from a running ROS 2 component container using its unique ID |
| CGenericTreeExecutorNode | Flexible and configurable ROS 2 behavior tree executor node |
| CLifecycleActivate | Sends the 'activate' transition (id=3) to a lifecycle node |
| CLifecycleCleanup | Sends the 'cleanup' transition (id=2) to a lifecycle node |
| CLifecycleConfigure | Sends the 'configure' transition (id=1) to a lifecycle node |
| CLifecycleDeactivate | Sends the 'deactivate' transition (id=4) to a lifecycle node |
| CLifecycleGetState | Retrieves the current lifecycle state of a ROS 2 managed node |
| CNodeModel | Data structure encapsulating the information of all ports implemented by a behavior tree node |
| CNodePortInfo | Implementation details of a single data port |
| CTreeBasedEntryPoint | Decoded entry point information for low-level tree building |
| CTreeBuildHandler | Base class for plugins that implement patterns for creating behavior trees using a standardized interface |
| CTreeBuildHandlerLoader | A pluginlib::ClassLoader specifically for loading installed behavior tree build handler plugins |
| CTreeExecutorBase | Base class that offers basic functionality for executing behavior trees |
| CTreeExecutorNode | Flexible ROS 2 node implementing a standardized interface for dynamically executing behavior trees |
| CTreeExecutorNodeOptions | Configuration options for GenericTreeExecutorNode |
| CTreeFromResourceBuildHandler | Standard build handler for building a behavior tree from an installed resource |
| CTreeFromStringBuildHandler | Standard build handler for building a behavior tree directly from an XML string |
| CTreeStateObserver | State observer for a particular behavior tree object that writes introspection and debugging information related to behavior tree node transitions to a ROS 2 logger |
| ▼Nauto_apms_mission | Mission design utilities incorporating behavior trees to model the complexity of arbitrary operations |
| CMissionBuildHandlerBase | Base class for behavior tree build handlers that are used to configure missions including fallback mechanisms |
| CMissionConfig | Configuration parameters for generic missions supported by AutoAPMS |
| CMissionFromResourceBuildHandler | Standard build handler for building a mission from an installed resource |
| CMissionFromStringBuildHandler | Standard build handler for building a mission from an installed resource |
| ▼Nauto_apms_px4 | Implementation of PX4 mode peers offered by px4_ros2_cpp enabling integration with AutoAPMS |
| CActionDrivenMode | Generic template class for a custom PX4 mode |
| CBehaviorModeExecutor | PX4 mode executor that runs an AutoAPMS behavior in-process when put in charge by the FMU |
| CBehaviorModeExecutorNode | ROS 2 component that hosts a BehaviorModeExecutor and its owned mode on an in-process behavior tree executor node |
| CBehaviorOwnedMode | Registration placeholder PX4 mode owned by a BehaviorModeExecutor |
| CBehaviorSpec | Which behavior to run and how to build it |
| CCheckArmingState | Condition node that succeeds once the vehicle's arming state matches the expected one |
| CCheckModeCompleted | Condition node that succeeds once the mode with the expected nav_state reports successful completion |
| CCheckNavState | Condition node that succeeds once the vehicle's active PX4 navigation state matches the expected one |
| CGetModeNavState | Resolves a PX4 mode's name to its nav_state (mode id) |
| CModeProxyAction | Generic template class for executing a PX4 mode implementing the interface of a standard ROS 2 action |
| CModeProxyActionFactory | Helper template class that creates a ModeProxyAction for a custom PX4 mode implemented by inheriting from ActionDrivenMode |
| CModeRegistrationFactory | Composable ROS 2 component that registers a custom PX4 mode and announces its dynamically assigned nav_state |
| CModeRegistrationHandler | Handles the registration of a PX4 mode with the FMU and announces its dynamically assigned nav_state |
| CSendCmdDoReposition | Behavior tree node that commands the vehicle to reposition to a global WGS84 location |
| CSendCmdSetNavState | Behavior tree node that switches the active PX4 flight mode while respecting mode-executor ownership |
| CSendVehicleCommand | Generic behavior tree node that publishes a PX4 VehicleCommand and waits for its acknowledgement |
| CVehicleCommandClient | Client for sending requests to the PX4 autopilot using the VehicleCommand topic |
| ▼Nauto_apms_util | Fundamental helper classes and utility functions |
| ▼Nexceptions | |
| CExceptionBase | Base class for all exceptions of AutoAPMS |
| CActionClientWrapper | Convenience wrapper for a rclcpp_action::Client that introduces synchronous goal handling functions |
| CActionContext | Helper class that stores contextual information related to a ROS 2 action |
| CActionWrapper | Generic base class for implementing robot skills using the ROS 2 action concept |
| CPluginClassLoader | Class for loading plugin resources registered according to the conventions defined by the pluginlib package |
1.13.2