cabot behavior trees (BT), BT plugins, and some utilities
| behavior tree | description |
|---|---|
| navigate_for_elevator.xml | BT for entering elevator |
| navigate_for_queue.xml | BT for queue navigation |
| navigate_for_queue_exit.xml | BT for after queue navigation |
| navigate_w_local_odom.xml | BT for exiting elevator (do not use global map) |
| navigate_w_replanning_and_recovery.xml | BT for basic navigation |
| plugin | node name | description |
|---|---|---|
| change_param.cpp | ChangeParam | change parameter of node to value |
| clear_costmap_service.cpp | ClearCostmapAroundRobot | call ClearCostmapAroundRobot service |
| current_pose.cpp | CurrentPose | get current robot pose |
| ignore_people.cpp | IgnorePeople | specify avoiding people (ignore from costmap exclusion) |
| path_to_poses.cpp | PathToPoses | extrace poses from the path |
| publish_topic.cpp | PublishTopic | publish String topic |
| PublishTopicInt8 | publish Int8 topic | |
| PublishTopicPath | publish Path topic | |
| PublishTopicPoseStamped | publish PoseStamped topic | |
| wait_float.cpp | WaitFloat | wait for seconds specified by a float value (for less than 1.0 seconds) |
| plugin | node name | description |
|---|---|---|
| check_path.cpp | CheckPath | check if planned path is not substantially detour from target path |
| need_to_avoid.cpp | NeedToAvoid | check if standing person is on the path |
| people_exist.cpp | PeopleExists | check existence of detected people |
| person_stops.cpp | PersonStops | check if there is standing people |
| can_pass_person.cpp | not used | |
| far_enough.cpp | not used | |
| someone_not_in_queue.cpp | not used | |
| someone_on_path.cpp | not used |
| plugin | node name | description |
|---|---|---|
| restore_config.cpp | RestoreConfig | stores all config of the specified node when enter and restore when exit |
- check_eval: print controller evaluation message in rosbag2 file
- check_log: print BT navigator log message in rosbag2 file