Function husarion_ugv_manager::behavior_tree_utils::RegisterBehaviorTree(BT::BehaviorTreeFactory&, const std::string&, const std::vector<std::string>, const BT::RosNodeParams&, const std::vector<std::string>)

• Defined in File behavior_tree_utils.hpp

Function Documentation

inline void husarion_ugv_manager::behavior_tree_utils::RegisterBehaviorTree(BT::BehaviorTreeFactory &factory, const std::string &bt_project_path, const std::vector<std::string> plugin_libs, const BT::RosNodeParams &params, const std::vector<std::string> ros_plugin_libs)

Registers a BehaviorTree into the factory from a file, with custom BT nodes and ROS nodes loaded from plugins.

Parameters:

• factory – The BT factory used to register nodes and the BehaviorTree.

• bt_project_path – The path to the BehaviorTree project file.

• plugin_libs – A vector containing the names of the nodes that will be registered from plugins.

• params – The ROS-related parameters to register nodes.

• ros_plugin_libs – A vector containing the names of the ROS nodes that will be registered from plugins.