TreeExecutorNodeOptions Class Reference

Configuration options for GenericTreeExecutorNode. More...

#include <auto_apms_behavior_tree/executor/options.hpp>

Public Member Functions
	TreeExecutorNodeOptions (const rclcpp::NodeOptions &ros_node_options=rclcpp::NodeOptions())
	Constructor.
TreeExecutorNodeOptions &	enableCommandAction (bool enable)
	Enable or disable the CommandTreeExecutor action interface.
TreeExecutorNodeOptions &	enableClearBlackboardService (bool enable)
	Enable or disable the clear blackboard service.
TreeExecutorNodeOptions &	enableScriptingEnumParameters (bool from_overrides, bool dynamic)
	Configure whether the executor accepts scripting enum parameters.
TreeExecutorNodeOptions &	enableGlobalBlackboardParameters (bool from_overrides, bool dynamic)
	Configure whether the executor accepts global blackboard parameters.
TreeExecutorNodeOptions &	enableStrictUnkownParameterRemoval (bool enable)
	Enable or disable strict unkown parameter removal.
TreeExecutorNodeOptions &	setDefaultBuildHandler (const std::string &name)
	Specify a default behavior tree build handler.
TreeExecutorNodeOptions &	setCommandActionName (const std::string &name)
	Set a custom name for the command tree executor action server.
TreeExecutorNodeOptions &	setClearBlackboardServiceName (const std::string &name)
	Set a custom name for the clear blackboard service.
rclcpp::NodeOptions	getROSNodeOptions () const
	Get the ROS 2 node options that comply with the given options.

Detailed Description

Configuration options for GenericTreeExecutorNode.

This allows configuring which features of the behavior tree executor are enabled, such as the command action interface, parameter/blackboard synchronization, and scripting enum support.

Definition at line 31 of file options.hpp.

Constructor & Destructor Documentation

TreeExecutorNodeOptions()

TreeExecutorNodeOptions

(

const rclcpp::NodeOptions &

ros_node_options = rclcpp::NodeOptions()

)

Constructor.

Parameters

ros_node_options

ROS 2 node options.

Definition at line 22 of file options.cpp.

Member Function Documentation

enableCommandAction()

TreeExecutorNodeOptions & enableCommandAction

(

bool

enable

)

Enable or disable the CommandTreeExecutor action interface.

Parameters

enable

true to enable, false to disable.

Returns

Modified options object.

Definition at line 27 of file options.cpp.

enableClearBlackboardService()

TreeExecutorNodeOptions & enableClearBlackboardService

(

bool

enable

)

Enable or disable the clear blackboard service.

Parameters

enable

true to enable, false to disable.

Returns

Modified options object.

Definition at line 33 of file options.cpp.

enableScriptingEnumParameters()

TreeExecutorNodeOptions & enableScriptingEnumParameters	(	bool	from_overrides,
		bool	dynamic )

Configure whether the executor accepts scripting enum parameters.

Parameters

from_overrides	true allows to set scripting enums from parameter overrides.
dynamic	true allows to dynamically set scripting enums at runtime.

Returns

Modified options object.

Definition at line 39 of file options.cpp.

enableGlobalBlackboardParameters()

TreeExecutorNodeOptions & enableGlobalBlackboardParameters	(	bool	from_overrides,
		bool	dynamic )

Configure whether the executor accepts global blackboard parameters.

Parameters

from_overrides	true allows to set global blackboard entries from parameter overrides.
dynamic	true allows to dynamically set global blackboard entries at runtime.

Returns

Modified options object.

Definition at line 46 of file options.cpp.

enableStrictUnkownParameterRemoval()

TreeExecutorNodeOptions & enableStrictUnkownParameterRemoval

(

bool

enable

)

Enable or disable strict unkown parameter removal.

When enabled, GenericTreeExecutorNode removes initial parameters that are not part of its known parameter set (excluding scripting enum and blackboard prefixes). Disable this when embedding the executor in nodes that intentionally declare additional parameters.

Parameters

enable

true to remove unkown initial parameters, false to keep them.

Returns

Modified options object.

Definition at line 53 of file options.cpp.

setDefaultBuildHandler()

TreeExecutorNodeOptions & setDefaultBuildHandler

(

const std::string &

name

)

Specify a default behavior tree build handler.

Parameters

name	Fully qualified class name of the behavior tree build handler plugin.

Returns

Modified options object.

Definition at line 59 of file options.cpp.

setCommandActionName()

TreeExecutorNodeOptions & setCommandActionName

(

const std::string &

name

)

Set a custom name for the command tree executor action server.

If not set, the default name <node_name>/cmd is used.

Parameters

name	Full action name.

Returns

Modified options object.

Definition at line 65 of file options.cpp.

setClearBlackboardServiceName()

TreeExecutorNodeOptions & setClearBlackboardServiceName

(

const std::string &

name

)

Set a custom name for the clear blackboard service.

If not set, the default name <node_name>/clear_blackboard is used.

Parameters

name	Full service name.

Returns

Modified options object.

Definition at line 71 of file options.cpp.

getROSNodeOptions()

rclcpp::NodeOptions getROSNodeOptions

(

)

const

Get the ROS 2 node options that comply with the given options.

Returns

Corresponding rclcpp::NodeOptions object.

Definition at line 77 of file options.cpp.

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

• auto_apms_behavior_tree/include/auto_apms_behavior_tree/executor/options.hpp
• auto_apms_behavior_tree/src/executor/options.cpp