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Appropriate way to obtain data in behavior tree and the corresponding controller(s)

asked 2020-09-30 08:58:17 -0500

KvE-Saxion gravatar image

Dear all,

In the example of nav2 dynamic object following, the developer says someting about reading a topic between the second and third code block but this does not appear to be done from within the XML file.

My question is: What is the appropriate way to read a topic within a BT node?

I also would like to also know a more general approach to how the dataflow between the behavior tree node and the corresponding cotrollers is handeled?

I posted this question already at discource for the people who would like to discus the design aspects of the BT modules with corresponding controllers, planner or recoverie behaniors.

Kind regards, Kevin

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answered 2020-12-18 12:46:09 -0500

Michael Jeronimo gravatar image

The BT nodes can have ports, which can be parameters to the BT node's operation, either updated an initialization time or updated dynamically during the node's operation. These ports don't necessarily replace the normal ROS topic-based communication. In other words, looking at the BT doesn't give you the whole picture of the communication network. You can use rqt_graph for that. So, the Behavior Tree of the system is one view and it can be implemented using ROS nodes (not necessarily a 1:1 relationship; it's up to you to decide how they are implemented).

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Asked: 2020-09-30 08:58:17 -0500

Seen: 69 times

Last updated: Sep 30 '20