suave_bt

suave_bt is the BehaviorTree.CPP managing subsystem for SUAVE. It selects system modes from diagnostics and coordinates pipeline search, inspection, thruster recovery, and battery recharge. The standard and extended trees are defined in bts/suave.xml and bts/suave_extended.xml.

Running

Run the standard tree with the legacy lifecycle behavior:

ros2 launch suave_bringup mission.launch.py adaptation_manager:=bt

Run it using ROS 2 actions:

ros2 launch suave_bringup mission.launch.py \
  adaptation_manager:=bt use_action_server:=true

The extended mission supports the same argument:

ros2 launch suave_bringup mission.launch.py adaptation_manager:=bt \
  bt_executable:=suave_bt_extended mission_type:=suave_extended \
  use_action_server:=true

use_action_server

use_action_server is a Boolean launch argument and ROS parameter that defaults to false.

• false: activating a managed lifecycle node starts its behavior. The BT observes legacy completion topics.
• true: lifecycle activation only prepares the behavior. The BT sends goals to spiral_search, follow_pipeline, recover_thrusters, and recharge_battery, and uses their action results to determine BT status.

The launch file passes this value to both the managed lifecycle nodes and the BT mission node. The mission node stores it on the BT blackboard so all action nodes use the same mode. Do not configure the two sides independently.

For a suave_runner campaign, include the argument in the experiment command in suave_runner/config/runner/runner_config.yml:

{
  "experiment_launch": "ros2 launch suave_bringup mission.launch.py adaptation_manager:=bt use_action_server:=true",
  "num_runs": 10,
  "adaptation_manager": "bt",
  "mission_name": "suave"
}