#include "behaviortree_cpp/xml_parsing.h"#include "behaviortree_cpp/loggers/bt_cout_logger.h"#include "behaviortree_cpp/blackboard/blackboard_local.h"#include "movebase_node.h"
Include dependency graph for t04_blackboard.cpp:
Go to the source code of this file.
Functions | |
| NodeStatus | CalculateGoalPose (TreeNode &self) |
| int | main () |
Variables | |
| const std::string | xml_text |
Function Documentation
| NodeStatus CalculateGoalPose | ( | TreeNode & | self | ) |
Definition at line 42 of file t04_blackboard.cpp.
| int main | ( | ) |
Definition at line 59 of file t04_blackboard.cpp.
Variable Documentation
| const std::string xml_text |
Initial value:
= R"(
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<SequenceStar name="root">
<CalculateGoalPose/>
<MoveBase goal="${GoalPose}" />
<SetBlackboard key="OtherGoal" value="-1;3;0.5" />
<MoveBase goal="${OtherGoal}" />
</SequenceStar>
</BehaviorTree>
</root>
)"
This tutorial will tech you:
- How to use the Blackboard to shared data between TreeNodes
- How to use a Blackboard as a NodeParameter
The tree is a Sequence of 4 actions
1) Store a value of Pose2D in the key "GoalPose" of the blackboard using the action CalculateGoalPose. 2) Call MoveAction. The NodeParameter "goal" will be read from the Blackboard at run-time. 3) Use the built-in action SetBlackboard to write the key "OtherGoal". 4) Call MoveAction. The NodeParameter "goal" will be read from the Blackboard entry "OtherGoal".
Definition at line 24 of file t04_blackboard.cpp.