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Reference Implementation: ``group0_final``
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This page is an **API reference** for the reference implementation in
``~/enpm605_ws/src/final_project/group0_final/``. It is provided as
an example of:

* The level of **docstring detail** expected for the final project
  (Google-style, parsed by
  `napoleon <https://www.sphinx-doc.org/en/master/usage/extensions/napoleon.html>`_).
* How to **organize a ROS 2 Python package** that combines a behavior
  tree (``py_trees`` / ``py_trees_ros``), Nav2 action clients,
  custom services, TF broadcasting, and YAML-driven parameters.
* The recommended **module layout** that separates pure mission state
  (``ZoneManager``), behavior-tree leaves (``bt_nodes/``), service
  servers (``service_servers/``), and the entry-point script
  (``scripts/``).

Use this as a *style and structure reference*, not a copy-paste
template. Your own package will share the same shape but should be
written in your own words.

.. note::

   The behavior tree assembled by the entry point is::

       Selector "Mission" (memory=False)              <- root
       |-- Sequence "Patrol" (memory=True)
       |   |-- ZonesRemaining?                  (condition)
       |   |-- NavigateToZone                   (action)
       |   |-- DetectSurvivor                   (action)
       |   |-- Selector "HandleDetection" (memory=False)
       |   |   |-- Sequence "SurvivorFound" (memory=False)
       |   |   |   |-- IsSurvivorDetected?      (condition)
       |   |   |   |-- BroadcastSurvivorTF      (action)
       |   |   |   |-- NotifyBase               (action)
       |   |   |-- LogNoDetection               (action)
       |   |-- AdvanceZone                      (action)
       |-- NavigateToBase                       (action)


..
   The block below embeds a pre-rendered HTML fragment generated by
   tools/render_api.py running against the maintainer's local copy of
   group0_final. This avoids having to publish the source to RTD.

.. raw:: html
   :file: _code_api.html