Tree Executor Parameter Reference

Here is a list of all parameters supported by TreeExecutorNode.

By default, the following configuration applies:

allow_dynamic_blackboard: true
allow_dynamic_scripting_enums: true
allow_other_build_handlers: true
build_handler: auto_apms_behavior_tree::TreeFromResourceBuildHandler
build_handler_exclude_packages: '{}'
groot2_port: -1.0
node_exclude_packages: '{}'
state_change_logger: false
tick_rate: 0.1

allow_other_build_handlers

Option whether to allow dynamic loading/unloading of tree build handler plugins.

• Type: bool
• Default Value: true
• Read only: True

allow_dynamic_scripting_enums

Option whether to allow dynamically changing scripting enum parameters.

• Type: bool
• Default Value: true

allow_dynamic_blackboard

Option whether to allow dynamically changing blackboard parameters.

• Type: bool
• Default Value: true

node_exclude_packages

List of package names to exclude when searching for tree node plugins.

• Type: string_array
• Default Value: {}
• Read only: True

Constraints:

• contains no duplicates

build_handler_exclude_packages

List of package names to exclude when searching for tree build handler plugins.

• Type: string_array
• Default Value: {}
• Read only: True

Constraints:

• contains no duplicates

build_handler

Fully qualified class name of the behavior tree build handler responsible for creating trees if not overridden by the StartTreeExecutor action goal.

• Type: string
• Default Value: "auto_apms_behavior_tree::TreeFromResourceBuildHandler"

tick_rate

Interval [s] at which the behavior tree is being ticked.

• Type: double
• Default Value: 0.1

Constraints:

• greater than or equal to 0

groot2_port

Server port for the Groot2 publisher. -1 means no Groot2 publisher will be created.

• Type: int
• Default Value: -1

Constraints:

• greater than or equal to -1

state_change_logger

Flag whether to write any behavior tree state changes to rosout.

• Type: bool
• Default Value: false