robokudo.behaviours.goal_canceled

Goal cancellation behavior for RoboKudo behavior trees.

This module provides a behavior that checks for goal cancellation by monitoring error states on the behavior tree’s blackboard. It is used to:

  • Detect when goals should be canceled due to errors

  • Provide clean termination of action sequences

  • Support error handling in action servers

The behavior integrates with RoboKudo’s error handling system to detect conditions that should trigger goal cancellation.

Classes

GoalCanceled

A behavior that detects when goals should be canceled due to errors.

Module Contents

class robokudo.behaviours.goal_canceled.GoalCanceled(name: str = 'GoalCanceled')

Bases: py_trees.behaviour.Behaviour

A behavior that detects when goals should be canceled due to errors.

This behavior monitors the blackboard for error states and returns: * SUCCESS if an error is detected, indicating the goal should be canceled * FAILURE if no errors are present, indicating the goal can continue

It is typically used in action server implementations to handle error conditions and provide clean goal cancellation.

initialise() → None

Initialize the behavior.

This method is called when the behavior is first ticked. No initialization is needed for this behavior.

update() → py_trees.common.Status

Check if the current goal should be canceled.

This method: * Checks for error states on the blackboard * Returns SUCCESS if an error is found (goal should be canceled) * Returns FAILURE if no errors are present (goal can continue)

Returns:

SUCCESS if goal should be canceled, FAILURE otherwise