custom-bt-condition-cpp

What problem does it solve?

Enable developers to implement custom ROS 2 BehaviorTree.CPP condition nodes in C++ to query world state and influence task flow with deterministic checks.

Core Features & Use Cases

• Inherit from BT::ConditionNode and expose ports via providedPorts() to declare inputs like topics, thresholds, and outputs.
• Access ROS 2 world state through the BT blackboard to read the node handle and sensor data, enabling synchronized decision logic.
• Use with Nav2 or any ROS 2 navigation/automation flow to gate actions based on concrete conditions.

Quick Start

Implement a new condition node by extending BT::ConditionNode, implement tick() with your logic, expose ports, and register it with the BT factory.