mirte_lc_labclean.labclean_tree module

LabClean behaviour tree entrypoint for ROS2.

Handy cli commands:

$ py-trees-render -b mirte_lc_labclean.labclean_tree.create_root $ py-trees-blackboard-watcher –list $ ros2 run mirte_lc_labclean labclean_tree $ py-trees-tree-viewer –no-sandbox

mirte_lc_labclean.labclean_tree.create_root() → py_trees.behaviour.Behaviour

Build the LabClean behaviour tree root.

Tree structure:

[Parallel] Lab Cleanup Root ├── [Sequence] Topics2BB │ ├── Init Cloud Objects │ ├── Init Planar Objects │ ├── Init Explore Status │ └── [Parallel] Subscribers │ ├── Exploration2BB │ ├── Cancel2BB │ ├── Start2BB │ ├── Battery2BB │ ├── Detectedcloud2BB │ └── DetectedClasses2BB ├── [Selector] Explore or Cover │ ├── [EternalGuard] Explored? │ │ └── CoverageTask │ └── Idle └── [Selector] Tasks

├── [EternalGuard] Battery Low? │ └── [Parallel] Dock │ ├── Flash Red │ └── Dock Action ├── [Sequence] Approach and Handle │ ├── Objects? │ ├── Pause Coverage │ ├── [Sequence] Handle │ │ ├── Flash Green │ │ └── [Sequence] Pick Up │ │ ├── Approach │ │ └── [Selector] Pick or Skip │ │ ├── [Sequence] Sort and Pick │ │ │ ├── [Retry] Retry Planar │ │ │ │ └── Planar_Detected? │ │ │ └── PickObject │ │ └── Idle │ └── Resume Coverage └── Flash Orange

Returns:

py_trees.behaviour.Behaviour: Root of the behaviour tree.

mirte_lc_labclean.labclean_tree.main()

Entry point for the demo script.