||An action client interface that draws goals from the blackboard.|
||Convenience version of the action client that only ever sends the same goal.|
||Subscribes to the battery message and writes battery data to the blackboard.|
||This behaviour looks up the blackboard for content to publish …|
||Check a subscriber to see if it has received data.|
||Listen for events (
||Saves the latest message to the blackboard and immediately returns success.|
||Waits for a subscriber’s callback to be triggered.|
||Broadcast a transform from the blackboard using the transform broadcaster mechanisms.|
||Blocking behaviour that looks for a transform and writes it to a variable on the blackboard.|
This module provides the
a ROS wrapper around a
Blackboard that permits
introspection of either the entire board or a window onto a smaller part
of the board over a ROS API via the py-trees-blackboard-watcher
command line utility.
extends the core
with both blackboard and (tree) snapshot streaming services.
Interact with these services via the py-trees-blackboard-watcher and
py-trees-tree-watcher command line utilities.
Open up a window onto the blackboard!
Introspect on the entire blackboard or a part thereof and receive a stream of updates whenever values change.
# list all keys on the blackboard $ py-trees-blackboard-watcher --list # stream all variables $ py-trees-blackboard-watcher # stream only visited variables and access details $ py-trees-blackboard-watcher --visited --activity # stream a single variable $ py-trees-blackboard-watcher odometry # stream only a single field within a variable $ py-trees-blackboard-watcher odometry.pose.pose.position
usage: py-trees-blackboard-watcher [-h] [-l] [-a] [-v] [-n [NAMESPACE]] ...
space separated list of blackboard variable names (may be nested) to watch
|-l, --list||list the blackboard variable names|
include the logged activity stream for recent changes
filter selected keys from those associated with behaviours on the most recent tick’s visited path
|namespace of blackboard services (if there should be more than one blackboard)|
Example interaction with the services of an
Open up a window onto the behaviour tree!
Render a oneshot snapshot of the tree as a dot graph, or stream it and it’s state continuously as unicode art on your console. This utility automatically discovers the running tree and opens interfaces to that, but if there is more than one tree executing use the namespace argument to differentiate between trees.
# render the tree as a dot graph (does not include runtime information) $ py-trees-tree-watcher --dot-graph # connect to an existing snapshot stream (e.g. the default, if it is enabled) $ py-trees-tree-watcher /tree/snapshots # open and connect to a snapshot stream, visualise the tree graph and it's changes only $ py-trees-tree-watcher # open a snapshot stream and include visited blackboard variables $ py-trees-tree-watcher -b # open a snapshot stream and include blackboard access details (activity) $ py-trees-tree-watcher -a # open a snapshot stream and include timing statistics $ py-trees-tree-watcher -s
usage: py-trees-tree-watcher [-h] [-n [NAMESPACE_HINT]] [-a] [-b] [-s] [--snapshots | --dot-graph] [topic_name]
|topic_name||snapshot stream to connect to, will create a temporary stream if none specified|
|namespace hint snapshot stream services (if there should be more than one tree)|
show logged activity stream (streaming mode only)
show visited path variables (streaming mode only)
show tick timing statistics (streaming mode only)
|--snapshots||render ascii/unicode snapshots from a snapshot stream|
|--dot-graph||render the tree as a dot graph|
Command line utility that introspects on a running
BehaviourTree instance over it’s snapshot
stream interfaces. Use to visualise the tree as a dot graph or
track tree changes, timing statistics and blackboard variables visited
by the tree on each tick.