Key Terminology

Objective: These are basically "applications" in MoveIt Pro, built as a Behavior Tree. They are a connected collection of Behavior nodes, much like a flow chart. Objectives can also be used within other Objectives as subtrees.

Behavior Tree: synonymous with Objectives in MoveIt Pro, they are a way to structure tasks in a robot. An efficient way of creating complex systems that are both modular and reactive.

Behavior: The smallest building block in MoveIt Pro. Represents a discrete sensing, planning, or motion step.

Behavior Configuration Parameter: Value used to configure a Behavior when it is initialized. Does not change while the Objective is executed. Saved in YAML files.

Behavior Data Port: Ports are used to read or write information on the Blackboard. MoveIt Pro Behaviors must have default values.