API
ros_bt_py.node module
ros_bt_py.data_types module
ros_bt_py.node_config module
ros_bt_py.helpers module
ros_bt_py.ros_helpers module
ros_bt_py.exceptions module
- exception ros_bt_py.exceptions.MigrationException[source]
Bases:
BehaviorTreeException
- exception ros_bt_py.exceptions.MissingParentError[source]
Bases:
BehaviorTreeException
- exception ros_bt_py.exceptions.NodeConfigError[source]
Bases:
BehaviorTreeException
- exception ros_bt_py.exceptions.NodeStateError[source]
Bases:
BehaviorTreeException
- exception ros_bt_py.exceptions.TreeTopologyError[source]
Bases:
BehaviorTreeException
ros_bt_py.tree_exec_manager module
ros_bt_py.tree_edit_manager module
ros_bt_py.data_flow_manager module
ros_bt_py.logging_manager module
ros_bt_py.debug_manager module
- class ros_bt_py.debug_manager.DebugManager(ros_node: rclpy.node.Node, node_diagnostics_publish_callback=None)[source]
Bases:
objectManages the collection and publishing of the node diagnostics.
- report_state(node_instance, state)[source]
Collect debug state from Node execution.
It measures the time between the beginning and the end of the setup/shutdown/reset/untick function (which includes that of any children).
Additionally, it publishes the node state and execution time to a node diagnostics topic.
- Parameters:
instance – The node
state – The state of the node
- report_tick(node_instance)[source]
Collect debug data during ticks from Node execution.
It measures the time between the beginning and the end of the tick function (which includes the ticks of any children) and calculates a moving window average of execution times as well as a minimum and maximum value.
- Parameters:
instance – The node that’s executing