Function RegisterBehaviorTrees

behaviortree_ros2/src/bt_utils.cpp:162–173

}

void RegisterBehaviorTrees(bt_server::Params& params, BT::BehaviorTreeFactory& factory,
                           rclcpp::Node::SharedPtr node)
{
  for(const auto& tree_dir : params.behavior_trees)
  {
    const auto tree_directory = GetDirectoryPath(tree_dir);
    // skip invalid subtree directories
    if(tree_directory.empty())
      continue;
    LoadBehaviorTrees(factory, tree_directory);
  }
}

}  // namespace BT