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About BehaviorTree.CPP

This C++ library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use 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 in you application.

BehaviorTree.CPP has many interesting features, when compared to other implementations:

• It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
• It allows the creation of trees at run-time, using a textual representation (XML).
• You can link staticaly you custom TreeNodes or convert them into plugins which are loaded at run-time.
• It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.

Documentation

https://behaviortree.github.io/BehaviorTree.CPP/

GUI Editor

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

If you are looking for a more fancy graphical user interface, check Groot out.

Watch Groot and BehaviorTree.CPP in action

Click on the following image to see a short video of how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree.

How to compile

The only (optional, but recommended) dependency of BehaviorTree.CPP is ZeroMQ. On Ubuntu it can be easily installed with

 sudo apt-get install libzmq3-dev

Any other dependency is already included in the 3rdparty folder.

Catkin and ROS users

You can easily install the package with the command

  sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp

If you want to compile it with catkin, just include this package in your catkin warkspace as usual.

Acknowledgement

This library was developed at Eurecat (main author, Davide Faconti) in a joint effort with the Italian Institute of Technology (Michele Colledanchise).

It is one of the main components of MOOD2Be, which is one of the six Integrated Technical Projects (ITPs) selected from the RobMoSys first open call and it received funding from the European Union’s Horizon 2020 Research and Innovation Programme.

Further readings

• Introductory article: Behavior trees for AI: How they work

• How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees. Michele Colledanchise and Petter Ogren. IEEE Transaction on Robotics 2017.

• Behavior Trees in Robotics and AI, published by CRC Press Taylor & Francis, available for purchase (ebook and hardcover) on the CRC Press Store or Amazon.

The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084

License

The MIT License (MIT)

Copyright (c) 2014-2018 Michele Colledanchise Copyright (c) 2018 Davide Faconti

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Changelog for package behaviortree_cpp

2.5.0 (2018-12-12)

• Introducing SyncActionNode that is more self explaining and less ambiguous
• fix potential problem related to ControlNode::haltChildren()
• Adding example/test of navigation and recovery behavior. Related to issue #36
• Contributors: Davide Faconti

2.4.4 (2018-12-12)

• adding virtual TreeNode::onInit() [issue #33]
• fix issue #34 : if you don't implement convertFromString, it will compile but it may throw
• Pretty demangled names and obsolate comments removed
• bug fixes
• more comments
• [enhancement #32]: add CoroActionNode and rename ActionNode as "AsynActionNode" The name ActionNode was confusing and it has been deprecated.
• Update README.md
• removed old file
• Fix issue #31 : convertFromString mandatory for TreeNode::getParam, not Blackboard::get
• Cherry piking changes from PR #19 which solve issue #2 CONAN support
• Contributors: Davide Faconti

2.4.3 (2018-12-07)

• Merge branch 'master' into ros2
• removed old file
• Fix issue #31 : convertFromString mandatory for TreeNode::getParam, not Blackboard::get
• 2.4.3
• version bump
• Merge pull request #30 from nuclearsandwich/patch-1 Fix typo in package name.
• Remove extra find_package(ament_cmake_gtest). This package should only be needed if BUILD_TESTING is on and is find_package'd below if ament_cmake is found and BUILD_TESTING is on.
• Fix typo in package name.
• added video to readme
• Cherry piking changes from PR #19 which solve issue #2 CONAN support
• Merge pull request #29 from nuclearsandwich/ament-gtest-dep Add test dependency on ament_cmake_gtest.
• Add test dependency on ament_cmake_gtest.
• fix travis removing CI
• Contributors: Davide Faconti, Steven! Ragnar