auto_apms_behavior_tree

This package provides tools and methods to make the development process of behavior trees more efficient and convenient. It builds upon BehaviorTree.CPP and introduces several new features to improve the workflow with behavior trees.

Changelog for package auto_apms_behavior_tree

1.7.0 (2026-10-16)

• Allow embedding node registration options inline with the behavior tree xml (#20)
  • Add setter/getter for registration options specified inline the xml
  • add evaluation of inline registration options and introduce lazy port info cache
  • feature: add method to automatically set all inline registration options based on current node manifest of parent doc
• fix: resolve rolling regressions caused by upstream api changes
• Contributors: Robin Müller

1.6.0 (2026-10-16)

• add startExecution method to TreeExecutorBase that allows for providing a finished BT::Tree
• feature: add new include tag for including autoapms tree resources
• feat: add option to toggle tree executor's strict unkown parameter removal
• Merge pull request #21 from AutoAPMS/feature/node-manifest-parent-option Add parent field support to node registration options and tests
• Add parent field support to node registration options and tests
  • Introduced a parent field in NodeRegistrationOptions for inheritance.
  • Updated YAML encoding/decoding to handle parent field resolution.
  • Added tests for parent field functionality in NodeRegistrationOptions and NodeManifest.
  • Created a test node manifest for verifying parent field resolution.
• Add composition and lifecycle behavior tree nodes
• executor: make generic executor node more accessible when using composition
• cli: assume a default tick rate if no parameter is defined by the executor node
• cli: Replace keep_blackboard with clear_blackboard arg Co-authored-by: Copilot <<copilot@github.com>>
• cli: add namespace argument to behavior run and behavior node call commands
• Add PublishTwist standard node
• Contributors: Robin Müller

1.5.1 (2026-04-07)

• feature: add executor ctor accepting a shared node pointer
• Add tests for alias-only behavior resource lookup
• Fix linting
• Fix resource aliasing/lookup and shorthanding formats
• feature: allow encoding inital blackboard in entry point
• Contributors: Robin Müller

1.5.0 (2026-03-06)

• Merge pull request #18 from AutoAPMS/feature/event-based-executor Refactor: Tree executor modularity
• fix linting
• Merge branch 'feature/event-based-executor' of https://github.com/AutoAPMS/auto-apms into feature/event-based-executor
• Merge pull request #19 from AutoAPMS/copilot/sub-pr-18 Fix race condition in ActionBasedTreeExecutorNode: per-goal TreeConstructor storage via UUID map
• Replace pending_tree_constructor_ with UUID-keyed map to fix race condition Co-authored-by: robin-mueller <<83639955+robin-mueller@users.noreply.github.com>>
• Fix typos
• Merge branch 'feature/event-based-executor' of https://github.com/AutoAPMS/auto-apms into feature/event-based-executor
• Fix typo
• remove unused includes Co-authored-by: Copilot <<175728472+Copilot@users.noreply.github.com>>
• Fix linting
• Make executor names more concise
• Merge pull request #17 from AutoAPMS/feature/allow-custom-node-registration-plugins Allow customizing node registration classes
• Add convenience methods for custom tree constructor callbacks
• Unify executor options
• Add event based executors
• Add support for customizing the node registration class using pluginlib
• fix: remove project name prefix for executor_params library is ok since it is part of exported library with unique name
• fix: introduce namespaced shared library names to avoid name clashes in merged installs
• Add pre and post build callbacks for TreeExecutorNode
• feature: allow for skipping the executor node configurations when using ros2 behavior send
• feature: add more customization options to TreeExecutorNode

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