ROS Index
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged as2_behavior_tree at Robotics Stack Exchange
No questions yet, you can ask one on Robotics Stack Exchange.
Failed to get question list, you can ticket an issue on the github issue tracker.
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 1.1.3 |
| License | BSD-3-Clause |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/aerostack2/aerostack2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-07-23 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
AS2 behavior trees
Additional Links
No additional links.
Maintainers
- CVAR-UPM
Authors
No additional authors.
as2_behavior_tree
This module is used to implement a ROS2 node that executes navigation Behavior Trees for navigation of drone systems. The behavior_trees module uses the Behavior-Tree.CPP library for the core Behavior Tree processing.
The behavior_trees module provides navigation-specific behavior tree nodes and a ROS2 node implementation and launchers. It uses nav2_behavior_tree C++ template class for easily integrating ROS2 actions and services into Behavior Trees,
Index
Installation
Dependencies:
sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3
sudo apt-get install ros-$ROS_DISTRO-nav2-msgs
sudo apt-get install ros-$ROS_DISTRO-nav2-behavior-tree
You may also want to install Groot to build your own trees.
AeroStack2 BT Nodes
AeroStack2 offers a pull of predefined behavior nodes to build your own Behavior Tree.
Action
Show Actions
#### Arm Arms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Disarm Disarms the drone. Input port is not intended to use by the user, but used because `nav2_behavior_tree` service action node implementation. Returns **SUCCESS** if service result is true. Otherwise, returns **FAILURE**.  | Port | In / Out | Description | | --- | --- | --- | | service_name | In | Service name which will be called. | #### Echo Prints data getted by input port. Used for debugging purpouses. Always returns **SUCCESS** after echoing.  | Port | In / Out | Description | | --- | --- | --- | | data | In | String to be echoed. | #### FollowPath **TBD** #### GoTo Go to specified position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | max_speed | In | Maximum speed in meters per second. | | pose | In | Goal pose in meters (e.g. `x;y;z`). | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### GoTo GPS Go to specified GPS position with given maximum speed and yaw. Returns **SUCCESS** if action finishes successfully or cancelled. Returns **FAILURE** if action is aborted, goal is rejected or action server fails. While action is executing returns **RUNNING**.  | Port | In / Out | Description | | --- | --- | --- | | alittude | In | Altitude in meters. | | latitude | In | Latitude in degrees. | | longitude | In | Longitude in degrees. | | max_speed | In | Maximum speed in meters per second. | | yaw_angle | In | Yaw angle in radians. | | yaw_mode | In | Yaw mode (KEEP_YAW = 0; PATH_FACING = 1; FIXED_YAW = 2). | #### Land File truncated at 100 lines [see the full file](https://github.com/aerostack2/aerostack2/tree/main/as2_behavior_tree/README.md)
CHANGELOG
Changelog for package as2_behavior_tree
1.1.3 (2025-07-23)
- [as2_behavior_tree] Add wait_for_service_timeout parameter
- Contributors: luccagandra
1.1.2 (2024-08-22)
1.1.1 (2024-08-20)
1.1.0 (2024-08-08)
- [as2_behavior_tree] Use ament_lint
- Contributors: Miguel Fernandez-Cortizas, Rafael Perez-Segui, pariaspe
1.0.9 (2024-03-25)
1.0.8 (2024-02-12)
1.0.7 (2024-02-04)
- [refactor] format tests according with ament_lint_common() packages
- fix build warning
- Contributors: pariaspe
1.0.6 (2023-12-12)
- Takeoff and GoTo behavior renaming
- Contributors: Miguel Fernandez-Cortizas, pariaspe
1.0.5 (2023-11-08)
1.0.4 (2023-08-23)
1.0.3 (2023-08-22)
1.0.2 (2023-08-17)
- Merge pull request #292 from aerostack2/issue-289 Delete install_bt_dependencies.bash
- Delete install_bt_dependencies.bash Closes #289
- Merge pull request #235 from aerostack2/234-goto-bt-action-missing-frame [as2_behavior_tree] GoTo Bt action missing frame
- adding short sleep after takeoff
- adding earth frame
- Contributors: Javilinos, Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, pariaspe
1.0.1 (2023-04-25)
- Merge pull request #223 from aerostack2/200-unify-maintainer-in-packagexmls Maintainer unified to CVAR-UPM
- Maintainer unified to CVAR-UPM
- Merge pull request #198 from aerostack2/197-as2_core-change-behaviour-to-behavior 197 as2 core change behaviour to behavior
- Change behaviour to behavior
- Contributors: Miguel Fernandez-Cortizas, RPS98, pariaspe
1.0.0 (2023-03-18)
0.2.2 (2022-12-20)
0.2.1 (2022-12-19)
- Merge pull request #77 from aerostack2/76-as2_behavior_tree-wrong-target-link-libraries [as2_behavior_tree] Removed old linking lib
- removed old linking lib
- Merge pull request #39 from aerostack2/37-as2_behavior_trees-documentation [as2_behavior_trees] Documentation improved
- added index, details dropbox and missing nodes
- Merge pull request #33 from aerostack2/behavior_tree Update behavior tree
- Update behavior tree
- px4 extended and ci actions
- user interfaces added
- Contributors: Miguel Fernandez-Cortizas, RPS98, Rafael Pérez, miferco97, pariaspe
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_cmake_gtest | |
| behaviortree_cpp_v3 | |
| nav2_behavior_tree | |
| nav2_msgs | |
| rclcpp | |
| rclcpp_action | |
| as2_core | |
| as2_msgs | |
| std_srvs | |
| geometry_msgs | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| aerostack2 |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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