Design Patterns

[Oberacda]

Provide Documentation and common Handling of:

• if elif else
• for loops
• while loops
• do while
• try except

Other situations:

• process user input (e.g. by topics to enable functionality like "stop everything and do xyz next"; should be parallel to the normal BT execution)
• detect and return a failure to the parent node, but execute some cleanup procedures beforehand
• a short guideline on when to use a ros action and when to implement it as a BT subtree
• what to do when the target ticking rate is not achieved
• BT interaction using services