auto_apms_behavior_tree Namespace Reference

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

Namespaces
namespace	core
	Core API for AutoAPMS's behavior tree implementation.
namespace	model
	Models for all available behavior tree nodes.

Classes
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	TreeExecutorBase
	Base class that offers basic functionality for executing behavior trees. More...
class	TreeExecutorNode
	Flexible ROS 2 node implementing a standardized interface for dynamically executing behavior trees. More...
class	TreeExecutorNodeOptions
	Configuration options for TreeExecutorNode. More...
class	TreeStateObserver
	State observer for a particular behavior tree object that writes introspection and debugging information related to behavior tree node transitions to a ROS 2 logger. More...

Functions
BT::Expected< BT::Any >	createAnyFromParameterValue (const rclcpp::ParameterValue &val)
	Convert a ROS 2 parameter value to a BT::Any object.
BT::Expected< rclcpp::ParameterValue >	createParameterValueFromAny (const BT::Any &any, rclcpp::ParameterType type)
	Convert a BT::Any object to a ROS 2 parameter value.
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.

Function Documentation

createAnyFromParameterValue()

BT::Expected< BT::Any > createAnyFromParameterValue

(

const rclcpp::ParameterValue &

val

)

Convert a ROS 2 parameter value to a BT::Any object.

Since the type information of a parameter value is stored internally, it's possible to create the corresponding BT::Any object dynamically.

Parameters

val	ROS 2 parameter value.

Returns

Expected object for BT::Any. Holds an error message if the type of val couldn't be converted to a C++ type.

Definition at line 20 of file parameter.cpp.

createParameterValueFromAny()

BT::Expected< rclcpp::ParameterValue > createParameterValueFromAny	(	const BT::Any &	any,
		rclcpp::ParameterType	type )

Convert a BT::Any object to a ROS 2 parameter value.

You may optionally specify the type of the parameter value to convert to using type. If you want to deduce the type from any, set this to rclcpp::PARAMETER_NOT_SET.

Parameters

any	BT::Any object.
type	Desired type of the parameter value. Set to rclcpp::PARAMETER_NOT_SET if it is unkown (e.g. if the parameter hasn't been set before).

Returns

Expected object for rclcpp::ParameterValue. Holds an error message if any couldn't be converted to type.

Definition at line 51 of file parameter.cpp.