scenario_execution_ros.scenario_execution_ros module
Main entry for scenario_execution_ros
- class scenario_execution_ros.scenario_execution_ros.ROSScenarioExecution(*args: Any, **kwargs: Any)
Bases:
ScenarioExecutionClass for scenario execution using ROS2 as middleware
- on_scenario_shutdown(result, failure_message='', failure_output='')
- post_setup()
- run() bool
- setup_behaviour_tree(tree)
Setup the behaviour tree Using py_trees_ros to get a node handle on ROS2 and tick in syn with ROS2
- Args:
tree [py_trees.behaviour.Behaviour]: root of the behaviour tree
- return:
scenario_execution_py_trees_ros.trees.BehaviourTreeKwargs
- shutdown()
- scenario_execution_ros.scenario_execution_ros.main()
main function