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dua_btcpp_nodes

Library of BT.CPP nodes for the DUA framework.

Contents

The tree nodes provided in this package allow the tree to interact with various parts of a ROS 2 software architecture.

Action clients

  • ArmComponent: Arms a component calling the dua_hardware_interfaces/action/Arm action.
  • DisarmComponent: Disarms a component calling the dua_hardware_interfaces/action/Disarm action.

Service clients

  • SetComponentState: Sets the state of a component calling the std_srvs/srv/SetBool service.
  • TriggerComponent: Triggers a component calling the std_srvs/srv/Trigger service.

Topic subscribers

  • SubscriberTrigger: StatefulActionNode that waits for an std_msgs/msg/Empty message.

Topic publishers

  • PublishString: Publishes a string message to a ROS 2 topic.

Usage

This library can be included in a project and linked against.

Alternatively, it can be loaded as a plugin using pluginlib. It inherits from the dua_btcpp_base::BaseRegister class.

See dua_btcpp_nodes.hpp and the register_nodes() method for more information on how to initialize this library with BehaviorTree.CPP at runtime.

Copyright and License

Copyright 2025 dotX Automation s.r.l.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License.

You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

See the License for the specific language governing permissions and limitations under the License.