base.py 文件源码

def __init__(self, name, blackboard):

        """
        Tree task responsible for spawning new tasks. Once a task has a status of completed of failure
        this branch of the tree is executed. The timer waits for 5 seconds before sending the final 
        complete signal to the running task and spawning a new one.

        Args:
            name(str):              Name of this behavior tree task for identification.
            blackboard(Blackboard): Behavior tree blackboard that stores global vars.
        """

        super(Spawner, self).__init__(name, blackboard)
        self.timer = None
        self.spawning = False
        self.spawn_delay = rospy.get_param("~spawn-delay", 0.0)