robokudo.garden
===============

.. py:module:: robokudo.garden

.. autoapi-nested-parse::

   Tree initialization utilities for RoboKudo.

   This module provides functionality to initialize and set up behavior trees in RoboKudo.
   It handles the creation of visualization structures, blackboard initialization, and
   proper tree setup.

   The module is responsible for:

   * Setting up the blackboard with required data structures
   * Initializing visualization components when needed
   * Supporting single-shot execution for testing
   * Configuring proper tree structure with or without GUI



Functions
---------

.. autoapisummary::

   robokudo.garden.grow_tree


Module Contents
---------------

.. py:function:: grow_tree(tree: py_trees.behaviour.Behaviour, node: rclpy.node.Node, include_gui: bool = True, run_once: bool = False) -> py_trees_ros.trees.BehaviourTree

   Initialize a behavior tree with all required RoboKudo data structures.

   Sets up the blackboard with visualization maps and creates proper tree structure.
   Can optionally wrap the tree in a OneShot decorator for testing or add GUI
   visualization support.

   :param tree: The behavior tree to initialize
   :type tree: :class:`py_trees.Behaviour`
   :param include_gui: Whether to include visualization support, defaults to True
   :type include_gui: bool, optional
   :param run_once: Whether to wrap tree in OneShot for single execution, defaults to False
   :type run_once: bool, optional
   :return: The initialized behavior tree
   :rtype: :class:`py_trees_ros.trees.BehaviourTree`