Parameters for loading and registering a behavior tree node class from a shared library using e.g. NodeRegistrationLoader. More...

#include <auto_apms_behavior_tree_core/node/node_registration_options.hpp>

Public Member Functions
	NodeRegistrationOptions ()=default
	Create the default node registration options.

bool	valid () const
	Verify that the options are valid (e.g. all required values are set).

Public Attributes
std::string	class_name
	Fully qualified name of the behavior tree node plugin class.

std::string	description = "No description provided."
	Short description of the behavior tree node's purpose and use-case.

std::string	topic = "(input:topic)"
	Name of the ROS 2 communication interface to connect with.

std::map< std::string, std::string >	port_alias = {}
	Provides the possibility to rename ports implemented by `class_name`.

std::map< std::string, std::string >	port_default = {}
	Provides the possibility to define custom default values for the ports implemented by `class_name`.

std::vector< std::string >	hidden_ports = {}
	List of port names to hide in the node model for visualization tools like Groot2.

std::chrono::duration< double >	wait_timeout = std::chrono::duration<double>(3)

std::chrono::duration< double >	request_timeout = std::chrono::duration<double>(2)
	Period [s] (measured from sending a goal request) after the node aborts waiting for a server response.

bool	allow_unreachable = false

std::string	logger_level = ""
	Minimum ROS 2 logging severity level for this particular node. Empty means to inherit the parent logging severity.

YAML::Node	extra

Detailed Description

Parameters for loading and registering a behavior tree node class from a shared library using e.g. NodeRegistrationLoader.

Definition at line 31 of file node_registration_options.hpp.

Constructor & Destructor Documentation

◆ NodeRegistrationOptions()

NodeRegistrationOptions ( )

default

Create the default node registration options.

Member Function Documentation

◆ valid()

bool valid ( ) const

Verify that the options are valid (e.g. all required values are set).

Returns: true if valid, false otherwise.

Definition at line 34 of file node_registration_options.cpp.

Member Data Documentation

◆ class_name

std::string class_name

Fully qualified name of the behavior tree node plugin class.

Definition at line 53 of file node_registration_options.hpp.

◆ description

std::string description = "No description provided."

Short description of the behavior tree node's purpose and use-case.

Definition at line 55 of file node_registration_options.hpp.

◆ topic

std::string topic = "(input:topic)"

Name of the ROS 2 communication interface to connect with.

This has different meaning based on the context:

RosActionNode: Name of the action server
RosServiceNode: Name of the service
RosPublisherNode: Name of the topic to publish to
RosSubscriberNode: Name of the topic to subscribe to

It is possible to use a port's value to define this parameter at runtime by using the special pattern (input:<port_name>) and replacing <port_name> with the desired input port name.

Example: Given the user implements an input port BT::InputPort<std::string>("my_port"), one may create a client for the action "foo/bar" by defining NodeRegistrationOptions::port as (input:my_port)/bar and providing the string "foo" to the port with name my_port.

By default, we look for the communication port name using the node's input port named port.

Definition at line 78 of file node_registration_options.hpp.

◆ port_alias

std::map<std::string, std::string> port_alias = {}

Provides the possibility to rename ports implemented by class_name.

This is useful when a node implementation is used in a different context and the meaning of some of the ports has changed. In this case, it's possible to define a more descriptive port name. The description can also be updated by appending it within round brackets.

Example: Given a node implementation with an input port BT::InputPort<std::string>("my_port"), one may alias this port with BT::InputPort<std::string>("new_port") by adding the following entry to the port_alias map:

port_alias:

my_port: new_port (updated description for new port)

Note: Aliasing is achieved by duplicating the original port when the node is registered. The original port remains present in the implementation to maintain compatibility, but it is excluded from the node model.

Definition at line 98 of file node_registration_options.hpp.

◆ port_default

std::map<std::string, std::string> port_default = {}

Provides the possibility to define custom default values for the ports implemented by class_name.

This will override the "hard-coded" value and allows for configuring a behavior tree node without touching its source file.

Note: Specifying default values for aliased ports works just fine. You may either use the original port name or the alias.

Definition at line 109 of file node_registration_options.hpp.

◆ hidden_ports

std::vector<std::string> hidden_ports = {}

List of port names to hide in the node model for visualization tools like Groot2.

Definition at line 111 of file node_registration_options.hpp.

◆ wait_timeout

std::chrono::duration<double> wait_timeout = std::chrono::duration<double>(3)

Period [s] (measured from tree construction) after the server is considered unreachable. For publishers, this parameter defines how long to wait for at least one subscriber to connect.

Definition at line 114 of file node_registration_options.hpp.

◆ request_timeout

std::chrono::duration<double> request_timeout = std::chrono::duration<double>(2)

Period [s] (measured from sending a goal request) after the node aborts waiting for a server response.

Definition at line 116 of file node_registration_options.hpp.

◆ allow_unreachable

bool allow_unreachable = false

Flag whether to tolerate if the action/service is unreachable when trying to create the client. If set to true, a warning is logged. Otherwise, an exception is raised.

Definition at line 119 of file node_registration_options.hpp.

◆ logger_level

std::string logger_level = ""

Minimum ROS 2 logging severity level for this particular node. Empty means to inherit the parent logging severity.

Definition at line 121 of file node_registration_options.hpp.

◆ extra

YAML::Node extra

Flexible YAML node which allows providing additional and customized registration options to the behavior tree node implementation.

Definition at line 124 of file node_registration_options.hpp.

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

auto_apms_behavior_tree_core/include/auto_apms_behavior_tree_core/node/node_registration_options.hpp
auto_apms_behavior_tree_core/src/node/node_registration_options.cpp

Public Member Functions

Public Attributes