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bt_executor_parameters.md

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Bt Server Parameters

Default Config

bt_server:
  ros__parameters:
    action_name: bt_execution
    behavior_trees: '{}'
    groot2_port: 1667.0
    plugins: '{}'
    ros_plugins_timeout: 1000.0
    tick_frequency: 100.0

action_name

The name the Action Server takes requests from

  • Type: string
  • Default Value: "bt_execution"
  • Read only: True

tick_frequency

Frequency in Hz to tick() the Behavior tree at

  • Type: int
  • Default Value: 100
  • Read only: True

Constraints:

  • parameter must be within bounds 1

groot2_port

Server port value to publish Groot2 messages on

  • Type: int
  • Default Value: 1667
  • Read only: True

Constraints:

  • parameter must be within bounds 1

plugins

List of 'package_name/subfolder' containing BehaviorTree plugins to load into the factory

  • Type: string_array
  • Default Value: {}

Constraints:

  • contains no duplicates

ros_plugins_timeout

Timeout (ms) used in BT::RosNodeParams

  • Type: int
  • Default Value: 1000

Constraints:

  • parameter must be within bounds 1

behavior_trees

List of 'package_name/subfolder' containing SubTrees to load into the BehaviorTree factory

  • Type: string_array
  • Default Value: {}

Constraints:

  • contains no duplicates