Powerful tooling for incorporating behavior trees for task development. More...

Namespaces
namespace	core
	Core API for AutoAPMS's behavior tree implementation.

namespace	model
	Models for all available behavior tree nodes.

Classes
struct	NodeModel
	Data structure encapsulating the information of all ports implemented by a behavior tree node. More...

struct	NodePortInfo
	Implementation details of a single data port. More...

class	TreeBuildHandler
	Base class for plugins that implement patterns for creating behavior trees using a standardized interface. More...

class	TreeBuildHandlerLoader
	A `pluginlib::ClassLoader` specifically for loading installed behavior tree build handler plugins. More...

class	TreeExecutorBase
	Base class that offers basic functionality for executing behavior trees. More...

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

class	TreeExecutorNodeOptions
	Configuration options for TreeExecutorNode. More...

class	TreeFromResourceBuildHandler
	Standard build handler for building a behavior tree from an installed resource. More...

class	TreeFromStringBuildHandler
	Standard build handler for building a behavior tree directly from an XML string. More...

class	TreeStateObserver
	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. More...

Typedefs
using	NodeModelMap = std::map<std::string, NodeModel>
	Mapping of node registration names and their implementation details.

Functions
BT::Expected< BT::Any >	createAnyFromParameterValue (const rclcpp::ParameterValue &val)
	Convert a ROS 2 parameter value to a `BT::Any` object.

BT::Expected< rclcpp::ParameterValue >	createParameterValueFromAny (const BT::Any &any, rclcpp::ParameterType type)
	Convert a `BT::Any` object to a ROS 2 parameter value.


model::StartExecutor	insertStartExecutorFromString (core::TreeDocument::NodeElement &parent, const std::string &tree_str, const core::TreeDocument::NodeElement *before_this=nullptr)
	Helper that extends the children of a given parent node by a `StartExecutor` node for a specific behavior tree to be created from string.

model::StartExecutor	insertStartExecutorFromString (core::TreeDocument::NodeElement &parent, const core::TreeDocument::TreeElement &tree, const core::TreeDocument::NodeElement *before_this=nullptr)
	Helper that extends the children of a given parent node by a `StartExecutor` node for a specific behavior tree to be created from a string.

model::StartExecutor	insertStartExecutorFromResource (core::TreeDocument::NodeElement &parent, const core::TreeResourceIdentity &identity, const core::TreeDocument::NodeElement *before_this=nullptr)
	Helper that extends the children of a given parent node by a `StartExecutor` node for a specific behavior tree to be created from a resource.

Detailed Description

Powerful tooling for incorporating behavior trees for task development.

Typedef Documentation

◆ NodeModelMap

using NodeModelMap = std::map<std::string, NodeModel>

Mapping of node registration names and their implementation details.

Definition at line 72 of file definitions.hpp.

Function Documentation

◆ createAnyFromParameterValue()

BT::Expected< BT::Any > createAnyFromParameterValue ( const rclcpp::ParameterValue & val )

Convert a ROS 2 parameter value to a BT::Any object.

Since the type information of a parameter value is stored internally, it's possible to create the corresponding BT::Any object dynamically.

Parameters

val	ROS 2 parameter value.

Returns: Expected object for BT::Any. Holds an error message if the type of val couldn't be converted to a C++ type.

Definition at line 20 of file parameter.cpp.

◆ createParameterValueFromAny()

BT::Expected< rclcpp::ParameterValue > createParameterValueFromAny	(	const BT::Any &	any,
		rclcpp::ParameterType	type )

Convert a BT::Any object to a ROS 2 parameter value.

You may optionally specify the type of the parameter value to convert to using type. If you want to deduce the type from any, set this to rclcpp::PARAMETER_NOT_SET.

Parameters

any	`BT::Any` object.
type	Desired type of the parameter value. Set to `rclcpp::PARAMETER_NOT_SET` if it is unkown (e.g. if the parameter hasn't been set before).

Returns: Expected object for rclcpp::ParameterValue. Holds an error message if any couldn't be converted to type.

Definition at line 51 of file parameter.cpp.

Namespaces

Classes