robokudo.garden

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

grow_tree(→ py_trees_ros.trees.BehaviourTree)

Initialize a behavior tree with all required RoboKudo data structures.

Module Contents

robokudo.garden.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.

Parameters:

  • tree (py_trees.Behaviour) – The behavior tree to initialize

  • include_gui (bool, optional) – Whether to include visualization support, defaults to True

  • run_once (bool, optional) – Whether to wrap tree in OneShot for single execution, defaults to False

Returns:

The initialized behavior tree

Return type:

py_trees_ros.trees.BehaviourTree