Hello,
Hello,
I am wondering about the use of ROS subscriptions inside the BT Node. Since the nature of BT is modularity and reusability, it will happen that multiple BT nodes need to access the same message published on a ROS topic, thus duplicating the subscription.
Would it be better to create a single subscriber outside the BehaviorTree, and have it fill the global blackboard, which would then be accessed by each BT node that requires the data?
I made some interfaces for that for ROS1, and now that I am working with ROS2 I am thinking of doing the same. Or am I overthinking this, and should I just use the RosTopicSubNode of this library?
Hello,
Hello,
I am wondering about the use of ROS subscriptions inside the BT Node. Since the nature of BT is modularity and reusability, it will happen that multiple BT nodes need to access the same message published on a ROS topic, thus duplicating the subscription.
Would it be better to create a single subscriber outside the BehaviorTree, and have it fill the global blackboard, which would then be accessed by each BT node that requires the data?
I made some interfaces for that for ROS1, and now that I am working with ROS2 I am thinking of doing the same. Or am I overthinking this, and should I just use the RosTopicSubNode of this library?