tree_hhcm

This package provides a BehaviorTree.CPP-based library of TreeNodes tailored to the HHCM toolchains, and an executable for hierarchical hybrid control and mission execution.

Provided BTCPP TreeNodes

• LoadParamFromConfig: Loads parameters from YAML config files into the blackboard.
• NodeProvider: Provides a ROS2 node to the tree for communication and services.
• RobotLoader: Loads robot models and configuration, integrates with RobotInterface.
• CartesioLoader: Loads and configures Cartesio solvers and tasks for whole-body control.
• CartesioTaskControl: Enables or disables Cartesio tasks during execution, set references, monitors execution.

Additional custom nodes can be loaded via plugins using the --plugins option.

Features

• Loads and runs behavior trees from XML files
• Supports plugin loading for custom tree nodes
• Command-line argument parsing for rate, name, plugins, parameters, and xacro arguments
• ROS2 integration and time synchronization

Usage

Run the main executable with:

tree_hhcm_main [options] <tree_path>

Options:

• --rate/-r <rate>: Set tick rate (Hz)
• --name/-n <name>: Set node name
• --plugins/-p <plugin>: Load plugin (can be repeated)
• --param/-m <param>: Set blackboard param (key:=value, can be repeated)
• --xacro-args/-a <arg>: Pass xacro arguments
• --dont-sync/-d: Disable time synchronization

Example

tree_hhcm_main --rate 100 --name my_tree --plugins libtree_hhcm.so --param foo:=42 --param bar:=true my_tree.xml

License

See LICENSE file for details.