行为树XML节点

nav2_behavior_tree 包提供了几个导航特定的节点，这些节点是预先注册的，可以包含在行为树中。 [校准@小鱼]

查看此 introduction ，了解行为树是如何工作的，以及行为、条件、控制和装饰器之间的区别。 [待校准@2566]

注意: 以下未列出 SingleTrigger BT节点，因为它不包含任何参数。 [待校准@2567]

考虑查看使用Groot可视化和修改行为树的 Groot与行为树互动 [待校准@1432] 教程。 [待校准@2531]

Action插件

条件插件 [待校准@2569]

控制插件

装饰插件

Example

此行为树定期以1Hz重新规划全局路径，并且它还具有恢复操作。 [待校准@2572]

<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PipelineSequence name="NavigateWithReplanning">
        <RateController hz="1.0">
          <RecoveryNode number_of_retries="1" name="ComputePathToPose">
            <ComputePathToPose goal="{goal}" path="{path}" planner_id="GridBased"/>
            <ReactiveFallback name="ComputePathToPoseRecoveryFallback">
              <GoalUpdated/>
              <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
            </ReactiveFallback>
          </RecoveryNode>
        </RateController>
        <RecoveryNode number_of_retries="1" name="FollowPath">
          <FollowPath path="{path}" controller_id="FollowPath"/>
          <ReactiveFallback name="FollowPathRecoveryFallback">
            <GoalUpdated/>
            <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
          </ReactiveFallback>
        </RecoveryNode>
      </PipelineSequence>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
        <RoundRobin name="RecoveryActions">
          <Sequence name="ClearingActions">
            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
          </Sequence>
          <Spin spin_dist="1.57"/>
          <Wait wait_duration="5"/>
          <BackUp backup_dist="0.15" backup_speed="0.025"/>
        </RoundRobin>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>