leaf_nodes.md

• Action Nodes

  • Action nodes send ROS topic messages from the behavior tree to the robot.

  • Often the type of message sent from an Action node is a cmd_vel message which encodes movement instructions for the robot.

• Update Nodes

  • Update nodes are designated for updating data in the blackboard.

  • Often times the types of data updates performed by Update nodes include preprocessing or processing of message data from the robot.

• Conditional Nodes

  • Conditional nodes will return either "success" or "failure", corresponding to the boolean values "true" and "false" respectively

  • Conditional nodes will access data in the blackboard and return one of the two values listed above based on if a particular condition is met within the data.