Behavior Tree

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

Namespaces
namespace	auto_apms_behavior_tree
	Useful tooling for incorporating behavior trees for task development.

Classes
class	TreeBuilder
	Class for configuring and instantiating behavior trees. More...
class	NodeManifest
	Data structure for information about which behavior tree node plugin to load and how to configure them. More...
class	NodeRegistrationLoader
	A pluginlib::ClassLoader specifically for loading installed behavior tree node plugins. More...
class	RosActionNode< ActionT >
	Generic behavior tree node wrapper for a ROS 2 action client. More...
class	RosPublisherNode< MessageT >
	Generic behavior tree node wrapper for a ROS 2 publisher. More...
class	RosServiceNode< ServiceT >
	Generic behavior tree node wrapper for a ROS 2 service client. More...
class	RosSubscriberNode< MessageT >
	Generic behavior tree node wrapper for a ROS 2 subscriber. More...
class	TreeDocument
	Document Object Model (DOM) for the behavior tree XML schema. This class offers a programmatic approach for building behavior trees and stores the registration data of all associated nodes. More...
class	TreeResource
	Class containing behavior tree resource data. 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	TreeExecutorNode
	Flexible ROS 2 node implementing a standardized interface for dynamically executing behavior trees. More...

Macros
#define	AUTO_APMS_BEHAVIOR_TREE_DECLARE_NODE(type)
	Macro for registering a behavior tree node plugin.
#define	AUTO_APMS_BEHAVIOR_TREE_DECLARE_BUILD_HANDLER(type)
	Macro for registering a behavior tree build handler plugin which may be loaded at runtime to build a behavior tree according to the implementation.
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

Useful tooling for incorporating behavior trees for task development.

Macro Definition Documentation

AUTO_APMS_BEHAVIOR_TREE_DECLARE_NODE

#define AUTO_APMS_BEHAVIOR_TREE_DECLARE_NODE

(

type

)

Value:

  PLUGINLIB_EXPORT_CLASS(                                          \
    auto_apms_behavior_tree::core::NodeRegistrationTemplate<type>, \
    auto_apms_behavior_tree::core::NodeRegistrationInterface)

Macro for registering a behavior tree node plugin.

Behavior tree nodes should be created by inheriting from one of

• auto_apms_behavior_tree::core::RosActionNode
• auto_apms_behavior_tree::core::RosServiceNode
• auto_apms_behavior_tree::core::RosPublisherNode
• auto_apms_behavior_tree::core::RosSubscriberNode

One may also inherit from one of the other base classes provided by BehaviorTree.CPP if the functionality to be implemented doesn't require ROS 2 interfaces.

Parameters

type	Fully qualified name of the class.

Examples

simple_skill_node.cpp.

Definition at line 43 of file node.hpp.

AUTO_APMS_BEHAVIOR_TREE_DECLARE_BUILD_HANDLER

#define AUTO_APMS_BEHAVIOR_TREE_DECLARE_BUILD_HANDLER

(

type

)

Value:

  PLUGINLIB_EXPORT_CLASS(                                           \
    auto_apms_behavior_tree::TreeBuildHandlerFactoryTemplate<type>, \
    auto_apms_behavior_tree::TreeBuildHandlerFactoryInterface)

Macro for registering a behavior tree build handler plugin which may be loaded at runtime to build a behavior tree according to the implementation.

Build handler classes should be created by inheriting from auto_apms_behavior_tree::TreeBuildHandler.

Parameters

type	Fully qualified name of the class.

Examples

simple_skill_build_handler.cpp.

Definition at line 29 of file build_handler.hpp.

Function Documentation

insertStartExecutorFromString() [1/2]

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.

Parameters

parent	Parent behavior tree node.
tree_str	XML string of the behavior tree to be executed.
before_this	Pointer to an existing child node before which the new node will be placed. If nullptr, insert at the end.

Returns

Inserted StartExecutor node element.

Exceptions

auto_apms_behavior_tree::exceptions::TreeDocumentError

if before_this is provided but not a child of parent.

Definition at line 19 of file node.cpp.

insertStartExecutorFromString() [2/2]

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.

Parameters

parent	Parent behavior tree node.
tree	Tree element representing the behavior tree to be executed.
before_this	Pointer to an existing child node before which the new node will be placed. If nullptr, insert at the end.

Returns

Inserted StartExecutor node element.

Exceptions

auto_apms_behavior_tree::exceptions::TreeDocumentError

if before_this is provided but not a child of parent.

Definition at line 29 of file node.cpp.

insertStartExecutorFromResource()

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.

Parameters

parent	Parent behavior tree node.
identity	Identity object for the behavior tree resource that holds the tree to be executed. You may explicitly set the root tree by specifying the <tree_name> token of the identity.
before_this	Pointer to an existing child node before which the new node will be placed. If nullptr, insert at the end.

Returns

Inserted StartExecutor node element.

Exceptions

auto_apms_behavior_tree::exceptions::TreeDocumentError

if before_this is provided but not a child of parent.

Definition at line 37 of file node.cpp.