Class RecoveryNode

• Defined in File recovery_node.hpp

Inheritance Relationships

Base Type

• public BT::ControlNode

Class Documentation

class RecoveryNode : public BT::ControlNode

The RecoveryNode has only two children and returns SUCCESS if and only if the first child returns SUCCESS.

• If the first child returns FAILURE, the second child will be executed. After that the first child is executed again if the second child returns SUCCESS.

• If the first or second child returns RUNNING, this node returns RUNNING.

• If the second child returns FAILURE, this control node will stop the loop and returns FAILURE.

Public Functions

RecoveryNode(const std::string &name, const BT::NodeConfiguration &conf)

A constructor for nav2_behavior_tree::RecoveryNode.

Parameters:

• name – Name for the XML tag for this node

• conf – BT node configuration

~RecoveryNode() override = default

A destructor for nav2_behavior_tree::RecoveryNode.

Public Static Functions

static inline BT::PortsList providedPorts()

Creates list of BT ports.

Returns:

BT::PortsList Containing basic ports along with node-specific ports