t02_basic_ports.cpp File Reference

#include "behaviortree_cpp/bt_factory.h"
#include "dummy_nodes.h"
#include "movebase_node.h"

Include dependency graph for t02_basic_ports.cpp:

Go to the source code of this file.

Classes
class	ThinkWhatToSay

Functions
int	main ()

Variables
static const char *	xml_text

Function Documentation

int main

(

)

Definition at line 71 of file t02_basic_ports.cpp.

Variable Documentation

const char* xml_text

static

Initial value:

= R"(

 <root main_tree_to_execute = "MainTree" >

     <BehaviorTree ID="MainTree">
        <Sequence name="root">
            <SaySomething     message="start thinking..." />
            <ThinkWhatToSay   text="{the_answer}"/>
            <SaySomething     message="{the_answer}" />
            <SaySomething2    message="SaySomething2 works too..." />
            <SaySomething2    message="{the_answer}" />
        </Sequence>
     </BehaviorTree>

 </root>
 )"

This tutorial will teach you how basic input/output ports work.

Ports are a mechanism to exchange information between Nodes using a key/value storage called "Blackboard". The type and number of ports of a Node is statically defined.

Input Ports are like "argument" of a functions. Output ports are, conceptually, like "return values".

In this example, a Sequence of 5 Actions is executed:

• Actions 1 and 4 read the input "message" from a static string.
• Actions 3 and 5 read the input "message" from an entry in the blackboard called "the_answer".
• Action 2 writes something into the entry of the blackboard called "the_answer".

Definition at line 29 of file t02_basic_ports.cpp.