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1.1 KiB
JSON
1 line
1.1 KiB
JSON
{"path":"99 Work/0 OneSec/OneSecNotes/Multimedia/Pasted image 20231005132551.png","text":"Simplified software architecture* discuss in C++ application using BT following course C#++ application using BT without ROS2 - with ROS2 - - class A {methods_A_calling _back_ros_node()} class A {methods_A()} - ; - class B {methods_B()} - class C {methods_C()} class C {methods_C()} //supportive for BT but not = VS i calling ROS node { class D {methods.D()} : T A © /im0 BT related - suxiliary | i class D {methods_D()} 1 e ! 4/no BT related - auxiliary | Definition of BT (XML format) atedetodiabait Sediedetede et et - Definition of BT (XML format) runtise Wain() Main() 1. BehaviorTreeFactory ) 1. BehaviorTreeFactory factory: factory; {registration of BT nodes - \".'n\"mrn'::'c‘“ . here class A.B and C ) here c! | -—‘. . 2. Read tree (f: d or 1n _R0S Node 1. 2. Read tree (fi or in this *.¢ — - this *.cpp) E X 3. tree.tickRoot() - e tm.u(xm() { - to XML tree) | T aeFined . vree) \"E'“‘. d ‘ } “ 4. Definition of ROS node shared +-recommended . Spis","libVersion":"0.3.1","langs":"eng"} |