The RecoveryNode has only two children and returns SUCCESS if and only if the first child returns SUCCESS. More...

Inheritance diagram for nav2_behavior_tree::RecoveryNode:

Collaboration diagram for nav2_behavior_tree::RecoveryNode:

Public Member Functions
	RecoveryNode (const std::string &name, const BT::NodeConfiguration &conf)
	A constructor for nav2_behavior_tree::RecoveryNode. More...

	~RecoveryNode () override=default
	A destructor for nav2_behavior_tree::RecoveryNode.

Static Public Member Functions
static BT::PortsList	providedPorts ()
	Creates list of BT ports. More...

Detailed Description

The RecoveryNode has only two children and returns SUCCESS if and only if the first child returns SUCCESS.

If the first child returns FAILURE, the second child will be executed. After that the first child is executed again if the second child returns SUCCESS.
If the first or second child returns RUNNING, this node returns RUNNING.
If the second child returns FAILURE, this control node will stop the loop and returns FAILURE.

Usage in XML:

<RecoveryNode number_of_retries="1">
    <!--Add tree components here-->
</RecoveryNode>

Definition at line 41 of file recovery_node.hpp.

Constructor & Destructor Documentation

nav2_behavior_tree::RecoveryNode::RecoveryNode	(	const std::string &	name,
		const BT::NodeConfiguration &	conf
	)

Parameters

name	Name for the XML tag for this node
conf	BT node configuration

Definition at line 21 of file recovery_node.cpp.

static BT::PortsList nav2_behavior_tree::RecoveryNode::providedPorts ( )

inlinestatic

Creates list of BT ports.

Returns: BT::PortsList Containing basic ports along with node-specific ports

Definition at line 62 of file recovery_node.hpp.

The documentation for this class was generated from the following files: