bt-decorator-nodes

Behavior tree decorators wrap a single child node to modify its tick behavior, execution frequency, or return status. They are essential for throttling expensive operations, retrying failures, and implementing timeouts in ROS 2.

Implement retry logic and timeouts in ROS 2 navigation by wrapping your action nodes with Retry and Timeout decorators. This ensures safe termination and bounded execution time during task automation and recovery sequences.

Yes, you can nest multiple behavior tree decorators like Inverter, ForceSuccess, and Delay to compose robust, time-bounded behaviors. This nested composition enables precise failure handling and one-shot actions in ROS 2.

The best way to throttle expensive operations in ROS 2 behavior trees is using controller decorators. DistanceController and SpeedController pace child execution based on spatial metrics rather than strict time intervals.

Keep a ROS 2 behavior tree running until a failure occurs by wrapping the desired child node with the KeepRunningUntilFailure decorator. This implements safe endless patrol loops with predictable termination.