TreeExecutorNodeOptions Class Reference

Configuration options for TreeExecutorNode. More...

#include <auto_apms_behavior_tree/executor/executor_node.hpp>

Public Member Functions
	TreeExecutorNodeOptions (const rclcpp::NodeOptions &ros_node_options)
	Constructor.
TreeExecutorNodeOptions &	enableScriptingEnumParameters (bool from_overrides, bool dynamic)
	Configure whether the executor node accepts scripting enum parameters.
TreeExecutorNodeOptions &	enableGlobalBlackboardParameters (bool from_overrides, bool dynamic)
	Configure whether the executor node accepts global blackboard parameters.
TreeExecutorNodeOptions &	setDefaultBuildHandler (const std::string &name)
	Specify a default behavior tree build handler that will be used initially.
rclcpp::NodeOptions	getROSNodeOptions () const
	Get the ROS 2 node options that comply with the given options.

Detailed Description

Configuration options for TreeExecutorNode.

This allows to hardcode certain configurations. During initialization, a TreeExecutorNode parses the provided options and activates/deactivates the corresponding features.

Definition at line 38 of file executor_node.hpp.

Constructor & Destructor Documentation

TreeExecutorNodeOptions()

TreeExecutorNodeOptions

(

const rclcpp::NodeOptions &

ros_node_options

)

Constructor.

Executor options must be created by passing an existing rclcpp::NodeOptions object.

Parameters

ros_node_options

ROS 2 node options.

Definition at line 47 of file executor_node.cpp.

Member Function Documentation

enableScriptingEnumParameters()

TreeExecutorNodeOptions & enableScriptingEnumParameters	(	bool	from_overrides,
		bool	dynamic )

Configure whether the executor node accepts scripting enum parameters.

Parameters

from_overrides	true allows to set scripting enums from parameter overrides, false forbids that.
dynamic	true allows to dynamically set scripting enums at runtime, false forbids that.

Returns

Modified options object.

Definition at line 52 of file executor_node.cpp.

enableGlobalBlackboardParameters()

TreeExecutorNodeOptions & enableGlobalBlackboardParameters	(	bool	from_overrides,
		bool	dynamic )

Configure whether the executor node accepts global blackboard parameters.

Parameters

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

Returns

Modified options object.

Definition at line 59 of file executor_node.cpp.

setDefaultBuildHandler()

TreeExecutorNodeOptions & setDefaultBuildHandler

(

const std::string &

name

)

Specify a default behavior tree build handler that will be used initially.

Parameters

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

Returns

Modified options object.

Definition at line 66 of file executor_node.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 72 of file executor_node.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/executor_node.hpp
• auto_apms_behavior_tree/src/executor/executor_node.cpp