Flexible ROS 2 node implementing a standardized interface for dynamically executing behavior trees. More...

#include <auto_apms_behavior_tree/executor/executor_node.hpp>

Inheritance diagram for TreeExecutorNode:

[legend]

Public Member Functions
	TreeExecutorNode (const std::string &name, const std::string &start_action_name, Options options)
	Constructor allowing to specify a custom node name and executor options.

	TreeExecutorNode (const std::string &name, Options options)
	Constructor allowing to specify a custom node name and executor options.

	TreeExecutorNode (rclcpp::NodeOptions ros_options)
	Constructor populating both the node's name and the executor options with the default.

Public Member Functions inherited from ActionBasedTreeExecutorNode< auto_apms_interfaces::action::StartTreeExecutor >
	ActionBasedTreeExecutorNode (const std::string &name, const std::string &action_name, Options options)
	Constructor.

	ActionBasedTreeExecutorNode (const std::string &name, const std::string &action_name, rclcpp::NodeOptions ros_options=rclcpp::NodeOptions())
	Constructor with default options.

Public Member Functions inherited from GenericTreeExecutorNode
	GenericTreeExecutorNode (const std::string &name, Options options)
	Constructor.

	GenericTreeExecutorNode (rclcpp::NodeOptions options)
	Constructor with default 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.

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
TreeConstructor	getTreeConstructorFromGoal (std::shared_ptr< const TriggerGoal > goal_ptr) override
	Create a TreeConstructor from a StartTreeExecutor action goal.

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

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

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

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

Protected Member Functions inherited from ActionBasedTreeExecutorNode< auto_apms_interfaces::action::StartTreeExecutor >
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
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.

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

Static Protected 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.

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

Flexible ROS 2 node implementing a standardized interface for dynamically executing behavior trees.

This class uses the ActionBasedTreeExecutorNode template with the builtin StartTreeExecutor action type that allows external clients to trigger behavior tree execution via a flexible and standardized interface. The executor is configured using ROS 2 parameters.

A behavior tree can be executed via command line:

ros2 run auto_apms_behavior_tree run_behavior <build_request> ...

or using the ROS 2 CLI integration offered by auto_apms_ros2behavior:

ros2 behavior run <behavior_resource> ...

Alternatively, an executor can also be included as part of a ROS 2 components container. The following executor components are provided:

auto_apms_behavior_tree::TreeExecutorNode
auto_apms_behavior_tree::NoUndeclaredParamsExecutorNode
auto_apms_behavior_tree::OnlyScriptingEnumParamsExecutorNode
auto_apms_behavior_tree::OnlyBlackboardParamsExecutorNode
auto_apms_behavior_tree::OnlyInitialScriptingEnumParamsExecutorNode
auto_apms_behavior_tree::OnlyInitialBlackboardParamsExecutorNode

Definition at line 58 of file executor_node.hpp.

Constructor & Destructor Documentation

◆ TreeExecutorNode() [1/3]

TreeExecutorNode	(	const std::string &	name,
		const std::string &	start_action_name,
		Options	options )

Constructor allowing to specify a custom node name and executor options.

Parameters

name	Default name of the `rclcpp::Node`.
start_action_name	Name for the StartTreeExecutor action server. If empty, defaults to `<node_name>/start`.
options	Executor specific options. Simply pass a `rclcpp::NodeOptions` object to use the default options.

Definition at line 28 of file executor_node.cpp.

◆ TreeExecutorNode() [2/3]

TreeExecutorNode	(	const std::string &	name,
		Options	options )

Constructor allowing to specify a custom node name and executor options.

Parameters

name	Default name of the `rclcpp::Node`.
options	Executor specific options. Simply pass a `rclcpp::NodeOptions` object to use the default options.

Definition at line 58 of file executor_node.cpp.

◆ TreeExecutorNode() [3/3]

TreeExecutorNode ( rclcpp::NodeOptions ros_options )

explicit

Constructor populating both the node's name and the executor options with the default.

Parameters

options Options forwarded to rclcpp::Node constructor.

Definition at line 60 of file executor_node.cpp.

Member Function Documentation

◆ getTreeConstructorFromGoal()

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

overrideprotected

Create a TreeConstructor from a StartTreeExecutor action goal.

Loads the build handler (if specified), parses the node manifest, and creates a tree constructor using the build request from the goal.

Parameters

goal_ptr Shared pointer to the StartTreeExecutor action goal.

Returns: Callback for creating the behavior tree.

Exceptions

std::exception if the goal cannot be processed.

Definition at line 77 of file executor_node.cpp.

◆ shouldAcceptGoal()

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

overrideprotected

Determine whether an incoming start action goal should be accepted.

The default implementation rejects the goal if the executor is currently busy executing a behavior tree. Derived classes may override this to add additional validation logic.

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 65 of file executor_node.cpp.

◆ onAcceptedGoal()

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

overrideprotected

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

Clears the global blackboard if the goal's clear_blackboard flag is set.

Parameters

goal_handle_ptr Shared pointer to the accepted goal handle.

Definition at line 93 of file executor_node.cpp.

◆ onExecutionStarted()

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

overrideprotected

Hook called after execution has been started successfully.

Handles attached vs detached mode: in attached mode, sets up the action context to track execution; in detached mode, immediately succeeds the goal.

Parameters

goal_handle_ptr Shared pointer to the accepted goal handle.

Definition at line 101 of file executor_node.cpp.

◆ onGoalExecutionTermination()

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

overrideprotected

Handle the execution result for the StartTreeExecutor action client.

Populates the result with tree status information and the terminated tree identity.

Parameters

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

Definition at line 147 of file executor_node.cpp.

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

auto_apms_behavior_tree/include/auto_apms_behavior_tree/executor/executor_node.hpp
auto_apms_behavior_tree/src/executor/executor_node.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TreeExecutorNode() [1/3]

◆ TreeExecutorNode() [2/3]

◆ TreeExecutorNode() [3/3]

Member Function Documentation

◆ getTreeConstructorFromGoal()

◆ shouldAcceptGoal()

◆ onAcceptedGoal()

◆ onExecutionStarted()

◆ onGoalExecutionTermination()