I want to have a node that has a ROS subscriber in it so that it can update blackboard data asynchronously, is it possible to do so? if so, how to place this kind of node; if not, does it have some conflicts with the behavior tree logic?
A ROS subscriber like node in behavior tree(cpp) that can continuously updating data to blackboard
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Your question is not that clear.
However it is possible to create ROS node that publish data on topics or read data from topics. So it should be possible to create a node that publish some data on a topic and use this topic to update "blackboard data".