BehaviorTree.CPP 4.7

This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.

Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.

There are few features which make BehaviorTree.CPP unique, when compared to other implementations:

• It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.

• You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).

• Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.

• You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.

• It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.

• It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.

Documentation and Community

You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/

An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/

If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum

GUI Editor

Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.

If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.

How to compile

BT.CPP requires a compile that supports c++17.

Three build systems are supported:

• colcon (ament), if you use ROS2
• conan otherwise (Linux/Windows).
• straight cmake if you want to be personally responsible for dependencies :)

Compiling with conan:

Assuming that you are in the parent directory of BehaviorTree.CPP:

mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel

If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:

mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel

If you want to build in a pixi project (conda virtual environment).

pixi run build

If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .

Commercial support

Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.

Star History

Previous version

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Changelog for package behaviortree_cpp

4.7.2 (2025-05-29)

• Fix issue

  #978

  skipped was not working properly

• Added codespell as a pre-commit hook. (#977)
• fix: Make impossible to accidentally copy JsonExporter singleton (#975)
• Contributors: Davide Faconti, Leander Stephen D'Souza, tony-p

4.7.1 (2025-05-13)

• fix ROS CI
• Add action to publish Doxygen documentation as GH Page (#972)
• Update Doxyfile
• Make BT::Any::copyInto const (#970)
• more changes related to TestNode
• Contributors: David Sobek, Davide Faconti, Marcus Ebner von Eschenbach

4.7.0 (2025-04-24)

• change TestNodeConfig preferred constructor
• Fix dangling‐capture in TestNodeConfig
• Fix Precondition to only check condition once (#904)
• fix issue 945
• extend JSON conversion to include vectors (#965)
• Fix CI, add BUILD_TESTS and remove catkin support
• Fix testing CMake issue to resolve Rolling regression (#961)
• Bug fix/set blackboard (#955)
• feat: add fuzzing harnesses (#925)
• fix warnings
• Add const to applyVisitor (#935)
• try fix (#941)
• add workflow for sonarcube (#936)
• Fix issue #909: static queue in Loop
• apply changes suggested in #893
• apply fix mentioned in #916
• apply fixes suggested in #919
• fix issue #918 (introduced in #885)
• add fix suggested in #920
• add unit test related to #931
• Fix compilation error when targeting C++23 (#926) \^~~~~~~~~~~~~
• Fixes issue # #929 and #921
• apply check suggested in #924
• Fix ROS 2 build when ZeroMQ or SQlite3 include are not in the default include path (#911)
  • Fix ROS 2 build when ZeroMQ or SQlite3 include are not in the default include path
  • Update ament_build.cmake
• Fix/use correct compiler pixi/conda (#914)
  • fix: Use the cxx-compiler package which will set the correct compiler for the platform, and setup the required environment for it to work as expected
  • misc: update pixi versions in pipeline
• Add "other ports" to NodeConfig (#910)
• [retry_node] Refresh max_attempts_ in case it changed (#905) Co-authored-by: Guillaume Doisy <<guillaume@dexory.com>>
• use relative path in .Doxyfile (#882)
• Additional XML verification for ReactiveSequence nodes (#885) Co-authored-by: AndyZe <<andyzelenak@apptronik.com>>
• fix script parse error while 'A==-1' (#896) Co-authored-by: wangzheng <<wangz@oasisrobotics.tech>>
• Expose return value of wait_for

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