bt-blackboard-patterns

Share data between ROS 2 behavior tree nodes by writing and reading values through a central blackboard. This approach reduces wiring complexity by using standard port remapping to pass goals, paths, and state across the tree.

Pass data between a parent behavior tree and a subtree by exchanging inputs and outputs through the blackboard. This sub-tree data flow pattern ensures consistent data sharing and easier debugging across nested nodes.

Use SetBlackboard to write shared state, goals, or paths into the central blackboard for subsequent behavior tree nodes to read. This enforces consistent data flow and enables the next node to determine the next action based on the shared data.

Behavior tree data flow fails without blackboard typing discipline because inconsistent data types cause runtime errors when nodes read shared data. Enforcing typing discipline and runtime checks ensures consistent data flow and easier debugging of blackboard values.

Debugging behavior tree data sharing without port remapping is error-prone and increases wiring complexity. Applying port remapping with a central blackboard ensures consistent data flow, enabling consistent data types and runtime checks for easier debugging.

A blackboard pattern in ROS 2 task plans solves the error-prone process of passing and synchronizing data between behavior tree nodes. It provides a central blackboard to reduce wiring complexity and improve maintainability when sharing goals and state.