Behavior Tree Node Reference

Here is an extensive list of all behavior tree nodes that are available out of the box after installing AutoAPMS inside your workspace.

We also include the documentation of those nodes that natively come with BehaviorTree.CPP so you have a better overview.

There's a C++ node model class available for all of the registration names mentioned below. You can include them like so:

#include "auto_apms_behavior_tree/behavior_tree_nodes.hpp"
namespace standard_node_models = auto_apms_behavior_tree::model;

#include "auto_apms_simulation/behavior_tree_nodes.hpp"
namespace simulation_node_models = auto_apms_simulation::model;

#include "auto_apms_px4/behavior_tree_nodes.hpp"
namespace px4_node_models = auto_apms_px4::model;

Overview

Registration Name	Class Name	Package
AlwaysFailure	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
AlwaysSuccess	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
AsyncFallback	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
AsyncSequence	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Delay	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Fallback	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
ForceFailure	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
ForceSuccess	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
IfThenElse	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Inverter	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
KeepRunningUntilFailure	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopBool	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopDouble	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopInt	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
LoopString	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Parallel	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
ParallelAll	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Precondition	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
ReactiveFallback	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
ReactiveSequence	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Repeat	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
RetryUntilSuccessful	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
RunOnce	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Script	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
ScriptCondition	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Sequence	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
SequenceWithMemory	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
SetBlackboard	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
SkipUnlessUpdated	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Sleep	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
SubTree	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch2	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch3	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch4	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch5	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Switch6	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Timeout	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
UnsetBlackboard	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
WaitValueUpdate	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
WasEntryUpdated	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
WhileDoElse	❌	auto_apms_behavior_tree (BehaviorTree.CPP)
Error	auto_apms_behavior_tree::ThrowException	auto_apms_behavior_tree
GetParameter	auto_apms_behavior_tree::GetParameter	auto_apms_behavior_tree
GetParameterBool	auto_apms_behavior_tree::GetParameterBool	auto_apms_behavior_tree
GetParameterBoolVec	auto_apms_behavior_tree::GetParameterBoolVec	auto_apms_behavior_tree
GetParameterByteVec	auto_apms_behavior_tree::GetParameterByteVec	auto_apms_behavior_tree
GetParameterDouble	auto_apms_behavior_tree::GetParameterDouble	auto_apms_behavior_tree
GetParameterDoubleVec	auto_apms_behavior_tree::GetParameterDoubleVec	auto_apms_behavior_tree
GetParameterInt	auto_apms_behavior_tree::GetParameterInt	auto_apms_behavior_tree
GetParameterIntVec	auto_apms_behavior_tree::GetParameterIntVec	auto_apms_behavior_tree
GetParameterString	auto_apms_behavior_tree::GetParameterString	auto_apms_behavior_tree
GetParameterStringVec	auto_apms_behavior_tree::GetParameterStringVec	auto_apms_behavior_tree
HaltExecutor	auto_apms_behavior_tree::HaltExecutor	auto_apms_behavior_tree
HasParameter	auto_apms_behavior_tree::HasParameter	auto_apms_behavior_tree
Logger	auto_apms_behavior_tree::Logger	auto_apms_behavior_tree
PauseExecutor	auto_apms_behavior_tree::PauseExecutor	auto_apms_behavior_tree
ResumeExecutor	auto_apms_behavior_tree::ResumeExecutor	auto_apms_behavior_tree
SetParameter	auto_apms_behavior_tree::SetParameter	auto_apms_behavior_tree
SetParameterBool	auto_apms_behavior_tree::SetParameterBool	auto_apms_behavior_tree
SetParameterBoolVec	auto_apms_behavior_tree::SetParameterBoolVec	auto_apms_behavior_tree
SetParameterByteVec	auto_apms_behavior_tree::SetParameterByteVec	auto_apms_behavior_tree
SetParameterDouble	auto_apms_behavior_tree::SetParameterDouble	auto_apms_behavior_tree
SetParameterDoubleVec	auto_apms_behavior_tree::SetParameterDoubleVec	auto_apms_behavior_tree
SetParameterInt	auto_apms_behavior_tree::SetParameterInt	auto_apms_behavior_tree
SetParameterIntVec	auto_apms_behavior_tree::SetParameterIntVec	auto_apms_behavior_tree
SetParameterString	auto_apms_behavior_tree::SetParameterString	auto_apms_behavior_tree
SetParameterStringVec	auto_apms_behavior_tree::SetParameterStringVec	auto_apms_behavior_tree
StartExecutor	auto_apms_behavior_tree::StartExecutor	auto_apms_behavior_tree
TerminateExecutor	auto_apms_behavior_tree::TerminateExecutor	auto_apms_behavior_tree
GetRobotState	auto_apms_simulation::GetRobotState	auto_apms_simulation
IsLocationOccupied	auto_apms_simulation::IsLocationOccupied	auto_apms_simulation
NavigateToLocation	auto_apms_simulation::NavigateToLocation	auto_apms_simulation
PickObject	auto_apms_simulation::PickObject	auto_apms_simulation
PlaceObject	auto_apms_simulation::PlaceObject	auto_apms_simulation
RobotSharesCurrentLocation	auto_apms_simulation::RobotSharesCurrentLocation	auto_apms_simulation
SetLocationState	auto_apms_simulation::SetLocationState	auto_apms_simulation
Arm	auto_apms_px4::ArmAction	auto_apms_px4
Disarm	auto_apms_px4::DisarmAction	auto_apms_px4
EnableHold	auto_apms_px4::EnableHoldAction	auto_apms_px4
GoTo	auto_apms_px4::GoToAction	auto_apms_px4
GoToVector	auto_apms_px4::GoToAction	auto_apms_px4
Land	auto_apms_px4::LandAction	auto_apms_px4
Mission	auto_apms_px4::MissionAction	auto_apms_px4
RTL	auto_apms_px4::RTLAction	auto_apms_px4
ReadGlobalPosition	auto_apms_px4::ReadGlobalPosition	auto_apms_px4
Takeoff	auto_apms_px4::TakeoffAction	auto_apms_px4

auto_apms_behavior_tree (BehaviorTree.CPP)

AlwaysFailure

Class: ❌

Node Type: Action

This node doesn't have any ports.

AlwaysSuccess

Class: ❌

Node Type: Action

This node doesn't have any ports.

AsyncFallback

Class: ❌

Node Type: Control

This node doesn't have any ports.

AsyncSequence

Class: ❌

Node Type: Control

This node doesn't have any ports.

Delay

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
delay_msec	unsigned int	❌	Tick the child after a few milliseconds

Fallback

Class: ❌

Node Type: Control

This node doesn't have any ports.

ForceFailure

Class: ❌

Node Type: Decorator

This node doesn't have any ports.

ForceSuccess

Class: ❌

Node Type: Decorator

This node doesn't have any ports.

IfThenElse

Class: ❌

Node Type: Control

This node doesn't have any ports.

Inverter

Class: ❌

Node Type: Decorator

This node doesn't have any ports.

KeepRunningUntilFailure

Class: ❌

Node Type: Decorator

This node doesn't have any ports.

LoopBool

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	bool	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<bool, std::allocator<bool> > >	❌

LoopDouble

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	double	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<double, std::allocator<double> > >	❌

LoopInt

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	int	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<int, std::allocator<int> > >	❌

LoopString

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
if_empty	BT::NodeStatus	SUCCESS	Status to return if queue is empty: SUCCESS, FAILURE, SKIPPED

Output Ports

Output Name	Type	Default Value	Description
value	std::string	❌

Bidirectional Ports

Port Name	Type	Default Value	Description
queue	std::shared_ptr<std::deque<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >	❌

Parallel

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
failure_count	int	1	number of children that need to fail to trigger a FAILURE
success_count	int	-1	number of children that need to succeed to trigger a SUCCESS

ParallelAll

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
max_failures	int	1	If the number of children returning FAILURE exceeds this value, ParallelAll returns FAILURE

Precondition

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
else	BT::NodeStatus	FAILURE	Return status if condition is false
if	std::string	❌

ReactiveFallback

Class: ❌

Node Type: Control

This node doesn't have any ports.

ReactiveSequence

Class: ❌

Node Type: Control

This node doesn't have any ports.

Repeat

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
num_cycles	int	❌	Repeat a successful child up to N times. Use -1 to create an infinite loop.

RetryUntilSuccessful

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
num_attempts	int	❌	Execute again a failing child up to N times. Use -1 to create an infinite loop.

RunOnce

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
then_skip	bool	true	If true, skip after the first execution, otherwise return the same NodeStatus returned once bu the child.

Script

Class: ❌

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
code	std::string	❌	Piece of code that can be parsed

ScriptCondition

Class: ❌

Node Type: Condition

Input Ports

Input Name	Type	Default Value	Description
code	BT::AnyTypeAllowed	❌	Piece of code that can be parsed. Must return false or true

Sequence

Class: ❌

Node Type: Control

This node doesn't have any ports.

SequenceWithMemory

Class: ❌

Node Type: Control

This node doesn't have any ports.

SetBlackboard

Class: ❌

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
value	BT::AnyTypeAllowed	❌	Value to be written int othe output_key

Bidirectional Ports

Port Name	Type	Default Value	Description
output_key	BT::AnyTypeAllowed	❌	Name of the blackboard entry where the value should be written

SkipUnlessUpdated

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
entry	BT::Any	❌	Entry to check

Sleep

Class: ❌

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
msec	unsigned int	❌

SubTree

Class: ❌

Node Type: SubTree

Input Ports

Input Name	Type	Default Value	Description
_autoremap	bool	false	If true, all the ports with the same name will be remapped

Switch2

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch3

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch4

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
case_4	std::string	❌
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch5

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
case_5	std::string	❌
case_4	std::string	❌
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Switch6

Class: ❌

Node Type: Control

Input Ports

Input Name	Type	Default Value	Description
case_5	std::string	❌
case_4	std::string	❌
case_6	std::string	❌
case_3	std::string	❌
case_2	std::string	❌
case_1	std::string	❌
variable	std::string	❌

Timeout

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
msec	unsigned int	❌	After a certain amount of time, halt() the child if it is still running.

UnsetBlackboard

Class: ❌

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
key	std::string	❌	Key of the entry to remove

WaitValueUpdate

Class: ❌

Node Type: Decorator

Input Ports

Input Name	Type	Default Value	Description
entry	BT::Any	❌	Entry to check

WasEntryUpdated

Class: ❌

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
entry	BT::Any	❌	Entry to check

WhileDoElse

Class: ❌

Node Type: Control

This node doesn't have any ports.

auto_apms_behavior_tree

Error

Class: auto_apms_behavior_tree::ThrowException

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
message	std::string	❌	Error message. Creates a generic error message if empty.

GetParameter

Class: auto_apms_behavior_tree::GetParameter

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	BT::AnyTypeAllowed	❌	Output port for the parameter's value.

GetParameterBool

Class: auto_apms_behavior_tree::GetParameterBool

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	bool	❌	Output port for the parameter's value.

GetParameterBoolVec

Class: auto_apms_behavior_tree::GetParameterBoolVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<bool, std::allocator<bool> >	❌	Output port for the parameter's value.

GetParameterByteVec

Class: auto_apms_behavior_tree::GetParameterByteVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<unsigned char, std::allocator<unsigned char> >	❌	Output port for the parameter's value.

GetParameterDouble

Class: auto_apms_behavior_tree::GetParameterDouble

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	double	❌	Output port for the parameter's value.

GetParameterDoubleVec

Class: auto_apms_behavior_tree::GetParameterDoubleVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<double, std::allocator<double> >	❌	Output port for the parameter's value.

GetParameterInt

Class: auto_apms_behavior_tree::GetParameterInt

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	long	❌	Output port for the parameter's value.

GetParameterIntVec

Class: auto_apms_behavior_tree::GetParameterIntVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<long, std::allocator<long> >	❌	Output port for the parameter's value.

GetParameterString

Class: auto_apms_behavior_tree::GetParameterString

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::string	❌	Output port for the parameter's value.

GetParameterStringVec

Class: auto_apms_behavior_tree::GetParameterStringVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to get.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Output Ports

Output Name	Type	Default Value	Description
value	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Output port for the parameter's value.

HaltExecutor

Class: auto_apms_behavior_tree::HaltExecutor

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

HasParameter

Class: auto_apms_behavior_tree::HasParameter

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

Logger

Class: auto_apms_behavior_tree::Logger

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
message	BT::AnyTypeAllowed	❌	Message to be logged via rclcpp::Logger.
level	std::string	INFO	Logger level. Must be one of [UNSET, DEBUG, INFO, WARN, ERROR, FATAL] but is not case sensitive.

PauseExecutor

Class: auto_apms_behavior_tree::PauseExecutor

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

ResumeExecutor

Class: auto_apms_behavior_tree::ResumeExecutor

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

SetParameter

Class: auto_apms_behavior_tree::SetParameter

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	BT::AnyTypeAllowed	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterBool

Class: auto_apms_behavior_tree::SetParameterBool

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	bool	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterBoolVec

Class: auto_apms_behavior_tree::SetParameterBoolVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<bool, std::allocator<bool> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterByteVec

Class: auto_apms_behavior_tree::SetParameterByteVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<unsigned char, std::allocator<unsigned char> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterDouble

Class: auto_apms_behavior_tree::SetParameterDouble

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	double	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterDoubleVec

Class: auto_apms_behavior_tree::SetParameterDoubleVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<double, std::allocator<double> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterInt

Class: auto_apms_behavior_tree::SetParameterInt

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	long	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterIntVec

Class: auto_apms_behavior_tree::SetParameterIntVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<long, std::allocator<long> >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterString

Class: auto_apms_behavior_tree::SetParameterString

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::string	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

SetParameterStringVec

Class: auto_apms_behavior_tree::SetParameterStringVec

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
parameter	std::string	❌	Name of the parameter to be set.
value	std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > >	❌	Value of the parameter to be set.
node	std::string	❌	Name of the targeted ROS 2 node. Leave empty to target this executor's node.

StartExecutor

Class: auto_apms_behavior_tree::StartExecutor

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor responsible for building and running the specified behavior tree.
build_request	std::string	❌	String passed to the tree build handler defining which tree is to be built.
build_handler	std::string		Fully qualified class name of the build handler that is supposed to take care of the request. If empty, use the current one.
root_tree	std::string		Name of the root tree. If empty, let the build handler determine the root tree.
node_manifest	std::string		YAML/JSON formatted string encoding the name and the registration options for the tree nodes supposed to be loaded before building the tree.
node_overrides	std::string		YAML/JSON formatted string encoding the name and the registration options for any tree nodes supposed to override previously loaded ones.
clear_blackboard	bool	true	Boolean flag wether to clear the existing blackboard entries before the execution starts or not.
attach	bool	true	Boolean flag wether to attach to the execution process or start in detached mode.

TerminateExecutor

Class: auto_apms_behavior_tree::TerminateExecutor

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
executor	std::string	❌	Name of the executor to command.

auto_apms_simulation

GetRobotState

Class: auto_apms_simulation::GetRobotState

Node Type: Condition

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.

Output Ports

Output Name	Type	Default Value	Description
location	std::string		Current location name.
battery	double		Current battery state [%].

IsLocationOccupied

Class: auto_apms_simulation::IsLocationOccupied

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
target_loc	std::string	❌	Name of the location to test for occupancy.
filter_loc	std::string	.*	Regex filter for locations to match against the target location.
filter_robot	std::string	.*	Regex filter for robots to consider.

NavigateToLocation

Class: auto_apms_simulation::NavigateToLocation

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.
target	std::string	❌	Name of the target to navigate to (Terms for the knowledge query are separated by whitespace).

PickObject

Class: auto_apms_simulation::PickObject

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.
object	std::string		Name of the object to pick. Empty for the nearest object.

PlaceObject

Class: auto_apms_simulation::PlaceObject

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Name of the robot.

RobotSharesCurrentLocation

Class: auto_apms_simulation::RobotSharesCurrentLocation

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
robot	std::string	❌	Target robot in question to be the first at the given location.
filter_loc	std::string	.*	Regex filter for locations to consider.

Output Ports

Output Name	Type	Default Value	Description
current_loc	std::string		Current location name.

SetLocationState

Class: auto_apms_simulation::SetLocationState

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
open	bool	true	Open/Close the location.
location	std::string	❌	Name of the location.
lock	bool	false	Lock/Unlock the location.

auto_apms_px4

Arm

Class: auto_apms_px4::ArmAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
wait_until_ready_to_arm	bool	true	Wait for the UAV to be ready for arming. If false and UAV is not ready to arm, will be rejected.
port	std::string	❌	Name of the ROS 2 action.

Disarm

Class: auto_apms_px4::DisarmAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
port	std::string	❌	Name of the ROS 2 action.

EnableHold

Class: auto_apms_px4::EnableHoldAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
port	std::string	❌	Name of the ROS 2 action.

GoTo

Class: auto_apms_px4::GoToAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
lat	double	❌	Target latitude
lon	double	❌	Target longitude
alt	double	❌	Target altitude in meter (AMSL)
port	std::string	❌	Name of the ROS 2 action.

GoToVector

Class: auto_apms_px4::GoToAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
lat	double	❌	Target latitude
lon	double	❌	Target longitude
alt	double	❌	Target altitude in meter (AMSL)
port	std::string	❌	Name of the ROS 2 action.

Land

Class: auto_apms_px4::LandAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
port	std::string	❌	Name of the ROS 2 action.

Mission

Class: auto_apms_px4::MissionAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
do_restart	bool	false	Wether to restart (true) or resume (false) the mission.
port	std::string	❌	Name of the ROS 2 action.

RTL

Class: auto_apms_px4::RTLAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
port	std::string	❌	Name of the ROS 2 action.

ReadGlobalPosition

Class: auto_apms_px4::ReadGlobalPosition

Node Type: Condition

Input Ports

Input Name	Type	Default Value	Description
port	std::string	❌	Name of the ROS 2 topic to subscribe to.

Output Ports

Output Name	Type	Default Value	Description
pos_vec	Eigen::Matrix<double, 3, 1, 0, 3, 1>		Current global position vector (latitude [°], longitude [°], altitude AMSL [m])
alt	double		Current altitude in meter (AMSL)
lat	double		Current latitude in degree [°]
lon	double		Current longitude in degree [°]

Takeoff

Class: auto_apms_px4::TakeoffAction

Node Type: Action

Input Ports

Input Name	Type	Default Value	Description
alt	double	❌	Target takeoff altitude in meter (AMSL)
port	std::string	❌	Name of the ROS 2 action.