ROS 2 node template for executing behavior trees triggered by a custom ROS 2 action goal. More...

#include <auto_apms_behavior_tree/executor/action_based_executor_node.hpp>

Inheritance diagram for ActionBasedTreeExecutorNode< ActionT >:

[legend]

Public Member Functions
	ActionBasedTreeExecutorNode (rclcpp::Node::SharedPtr node_ptr, const std::string &action_name, Options options)
	Constructor using an existing ROS 2 node.

	ActionBasedTreeExecutorNode (const std::string &name, const std::string &action_name, Options options)
	Constructor which creates a new ROS 2 node.

	ActionBasedTreeExecutorNode (const std::string &name, const std::string &action_name)
	Constructor with default executor options.

Public Member Functions inherited from GenericTreeExecutorNode
	GenericTreeExecutorNode (rclcpp::Node::SharedPtr node_ptr, Options options)
	Constructor using an existing ROS 2 node.

	GenericTreeExecutorNode (const std::string &name, Options options)
	Constructor which creates a new ROS 2 node.

	GenericTreeExecutorNode (const std::string &name)
	Constructor with default executor options.

std::shared_future< ExecutionResult >	startExecution (const std::string &build_request, const std::string &entry_point="", const core::NodeManifest &node_manifest={})
	Start the behavior tree specified by a particular build request.

ExecutorParameters	getExecutorParameters () const
	Get a copy of the current executor parameters.

std::map< std::string, rclcpp::ParameterValue >	getParameterValuesWithPrefix (const std::string &prefix)
	Assemble all parameters of this node that have a specific prefix.

bool	updateScriptingEnumsWithParameterValues (const std::map< std::string, rclcpp::ParameterValue > &value_map, bool simulate=false)
	Update the internal buffer of scripting enums.

bool	updateGlobalBlackboardWithParameterValues (const std::map< std::string, rclcpp::ParameterValue > &value_map, bool simulate=false)
	Update the global blackboard using parameter values.

void	loadBuildHandler (const std::string &name)
	Load a particular behavior tree build handler plugin.

TreeConstructor	makeTreeConstructor (const std::string &build_request, const std::string &entry_point="", const core::NodeManifest &node_manifest={})
	Create a callback that builds a behavior tree according to a specific request.

core::TreeBuilder::SharedPtr	createTreeBuilder ()
	Create a tree builder for building the behavior tree.

virtual bool	clearGlobalBlackboard () override
	Reset the global blackboard and clear all entries.

std::shared_future< ExecutionResult >	startExecution (TreeConstructor make_tree, double tick_rate_sec=0.1, int groot2_port=-1)
	Start a behavior tree that is built using a callback.

template<typename TimeRepT = int64_t, typename TimeT = std::milli>
std::shared_future< ExecutionResult >	startExecution (TreeConstructor make_tree, const std::chrono::duration< TimeRepT, TimeT > &tick_rate, int groot2_port=-1)
	Start a behavior tree that is built using a callback.

Public Member Functions inherited from TreeExecutorBase
	TreeExecutorBase (rclcpp::Node::SharedPtr node_ptr, rclcpp::CallbackGroup::SharedPtr tree_node_callback_group_ptr=nullptr)
	Constructor.

std::shared_future< ExecutionResult >	startExecution (TreeConstructor make_tree, double tick_rate_sec=0.1, int groot2_port=-1)
	Start a behavior tree that is built using a callback.

template<typename TimeRepT = int64_t, typename TimeT = std::milli>
std::shared_future< ExecutionResult >	startExecution (TreeConstructor make_tree, const std::chrono::duration< TimeRepT, TimeT > &tick_rate, int groot2_port=-1)
	Start a behavior tree that is built using a callback.

void	setControlCommand (ControlCommand cmd)
	Set the command that handles the control flow of the execution routine.

bool	isBusy ()
	Determine whether this executor is currently executing a behavior tree.

ExecutionState	getExecutionState ()
	Get a status code indicating the current state of execution.

std::string	getTreeName ()
	Get the name of the tree that is currently executing.

TreeBlackboardSharedPtr	getGlobalBlackboardPtr ()
	Get a shared pointer to the global blackboard instance.

TreeStateObserver &	getStateObserver ()
	Get a reference to the current behavior tree state observer.

rclcpp::Node::SharedPtr	getNodePtr ()
	Get a shared pointer to the parent ROS 2 node.

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface ()
	Get the node's base interface. Is required to be able to register derived classes as ROS2 components.

rclcpp::CallbackGroup::SharedPtr	getTreeNodeWaitablesCallbackGroupPtr ()
	Get the callback group used for all waitables registered by behavior tree nodes.

rclcpp::executors::SingleThreadedExecutor::SharedPtr	getTreeNodeWaitablesExecutorPtr ()
	Get the ROS 2 executor instance used for spinning waitables registered by behavior tree nodes.

Protected Member Functions
virtual TreeConstructor	getTreeConstructorFromGoal (std::shared_ptr< const TriggerGoal > goal_ptr)=0
	Create a TreeConstructor from the received action goal.

virtual bool	shouldAcceptGoal (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const TriggerGoal > goal_ptr)
	Determine whether an incoming trigger action goal should be accepted.

virtual void	onAcceptedGoal (std::shared_ptr< TriggerGoalHandle > goal_handle_ptr)
	Hook called after a trigger action goal has been accepted and before execution begins.

virtual void	onExecutionStarted (std::shared_ptr< TriggerGoalHandle > goal_handle_ptr)
	Hook called after execution has been started successfully.

virtual void	onGoalExecutionTermination (const ExecutionResult &result, TriggerActionContext &context)
	Handle the execution result for the action client.

Protected Member Functions inherited from GenericTreeExecutorNode
virtual void	preBuild (core::TreeBuilder &builder, const std::string &build_request, const std::string &entry_point, const core::NodeManifest &node_manifest, TreeBlackboard &bb)
	Callback invoked before building the behavior tree.

virtual void	postBuild (Tree &tree)
	Callback invoked after the behavior tree has been instantiated.

Additional Inherited Members
Public Types inherited from TreeExecutorBase
enum class	ExecutionState : uint8_t { IDLE , STARTING , RUNNING , PAUSED , HALTED }
	Enum representing possible behavior tree execution states. More...

enum class	ControlCommand : uint8_t { RUN , PAUSE , HALT , TERMINATE }
	Enum representing possible commands for controlling the behavior tree execution routine. More...

enum class	TreeExitBehavior : uint8_t { TERMINATE , RESTART }
	Enum representing possible options for what to do when a behavior tree is completed. More...

enum class	ExecutionResult : uint8_t { TREE_SUCCEEDED , TREE_FAILED , TERMINATED_PREMATURELY , ERROR }
	Enum representing possible behavior tree execution results. More...

Static Public Member Functions inherited from GenericTreeExecutorNode
static std::string	stripPrefixFromParameterName (const std::string &prefix, const std::string &param_name)
	Get the name of a parameter without its prefix.

Static Public Attributes inherited from GenericTreeExecutorNode
static const std::string	PARAM_VALUE_NO_BUILD_HANDLER = "none"
	Value indicating that no build handler is loaded.

Protected Attributes inherited from TreeExecutorBase
rclcpp::Node::SharedPtr	node_ptr_
	Shared pointer to the parent ROS 2 node.

const rclcpp::Logger	logger_
	Logger associated with the parent ROS 2 node.

Detailed Description

template<typename ActionT>
class auto_apms_behavior_tree::ActionBasedTreeExecutorNode< ActionT >

ROS 2 node template for executing behavior trees triggered by a custom ROS 2 action goal.

This class extends GenericTreeExecutorNode to trigger behavior tree execution when an action goal of the specified type ActionT is received. It creates an action server and manages the lifecycle of the action goal in coordination with the behavior tree execution.

Derived classes must implement:

getTreeConstructorFromGoal(): Create a TreeConstructor from the received action goal.

Derived classes may optionally override:

shouldAcceptGoal(): Custom goal acceptance logic.
onAcceptedGoal(): Hook called after a goal is accepted.
onExecutionStarted(): Hook called after execution has started successfully.
onGoalExecutionTermination(): Handle the result of the execution for the action client.

Template Parameters

ActionT The ROS 2 action type that triggers the behavior tree execution.

Definition at line 46 of file action_based_executor_node.hpp.

Constructor & Destructor Documentation

◆ ActionBasedTreeExecutorNode() [1/3]

template<typename ActionT>

ActionBasedTreeExecutorNode	(	rclcpp::Node::SharedPtr	node_ptr,
		const std::string &	action_name,
		Options	options )

Constructor using an existing ROS 2 node.

Parameters

node_ptr	Shared pointer to the ROS 2 node to use.
action_name	Name for the trigger action server.
options	Executor options.

Definition at line 150 of file action_based_executor_node.hpp.

◆ ActionBasedTreeExecutorNode() [2/3]

template<typename ActionT>

ActionBasedTreeExecutorNode	(	const std::string &	name,
		const std::string &	action_name,
		Options	options )

Constructor which creates a new ROS 2 node.

Parameters

name	Name of the `rclcpp::Node`.
action_name	Name for the trigger action server.
options	Executor options.

Definition at line 162 of file action_based_executor_node.hpp.

◆ ActionBasedTreeExecutorNode() [3/3]

template<typename ActionT>

ActionBasedTreeExecutorNode	(	const std::string &	name,
		const std::string &	action_name )

Constructor with default executor options.

Parameters

name	Name of the `rclcpp::Node`.
action_name	Name for the trigger action server.

Definition at line 169 of file action_based_executor_node.hpp.

Member Function Documentation

◆ getTreeConstructorFromGoal()

template<typename ActionT>

virtual TreeConstructor getTreeConstructorFromGoal ( std::shared_ptr< const TriggerGoal > goal_ptr )

protectedpure virtual

Create a TreeConstructor from the received action goal.

Derived classes must implement this to define how the action goal maps to a behavior tree execution. This is where the build request, entry point, and node manifest should be determined from the goal.

Parameters

goal_ptr Shared pointer to the action goal.

Returns: Callback for creating the behavior tree.

Exceptions

std::exception if the goal cannot be processed (will cause goal rejection).

◆ shouldAcceptGoal()

template<typename ActionT>

bool shouldAcceptGoal	(	const rclcpp_action::GoalUUID &	uuid,
		std::shared_ptr< const TriggerGoal >	goal_ptr )

protectedvirtual

Determine whether an incoming trigger action goal should be accepted.

The default implementation rejects the goal if the executor is currently busy.

Parameters

uuid	The unique identifier of the incoming goal.
goal_ptr	Shared pointer to the incoming goal.

Returns: true if the goal should be accepted, false if it should be rejected.

Definition at line 176 of file action_based_executor_node.hpp.

◆ onAcceptedGoal()

template<typename ActionT>

void onAcceptedGoal ( std::shared_ptr< TriggerGoalHandle > goal_handle_ptr )

protectedvirtual

Hook called after a trigger action goal has been accepted and before execution begins.

Parameters

goal_handle_ptr Shared pointer to the accepted goal handle.

Definition at line 189 of file action_based_executor_node.hpp.

◆ onExecutionStarted()

template<typename ActionT>

void onExecutionStarted ( std::shared_ptr< TriggerGoalHandle > goal_handle_ptr )

protectedvirtual

Hook called after execution has been started successfully.

The default implementation sets up the action context for tracking the execution result (attached mode). Derived classes may override this to implement detached behavior by succeeding the goal handle immediately.

Parameters

goal_handle_ptr Shared pointer to the accepted goal handle.

Definition at line 194 of file action_based_executor_node.hpp.

◆ onGoalExecutionTermination()

template<typename ActionT>

void onGoalExecutionTermination	(	const ExecutionResult &	result,
		TriggerActionContext &	context )

protectedvirtual

Handle the execution result for the action client.

The default implementation succeeds for TREE_SUCCEEDED, aborts for TREE_FAILED, handles cancellation for TERMINATED_PREMATURELY, and aborts for ERROR.

Parameters

result	The execution result.
context	The action context for sending the result back.

Definition at line 201 of file action_based_executor_node.hpp.

The documentation for this class was generated from the following file:

auto_apms_behavior_tree/include/auto_apms_behavior_tree/executor/action_based_executor_node.hpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ActionBasedTreeExecutorNode() [1/3]

◆ ActionBasedTreeExecutorNode() [2/3]

◆ ActionBasedTreeExecutorNode() [3/3]

Member Function Documentation

◆ getTreeConstructorFromGoal()

◆ shouldAcceptGoal()

◆ onAcceptedGoal()

◆ onExecutionStarted()

◆ onGoalExecutionTermination()