BehaviorTree.CPP 4.3

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/

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

Previous version

Version 3.8 of the software can be found in the branch v3.8.

That branch might receive bug fixes, but the new features will be implemented only in the master branch.

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:

• catkin, if you use ROS
• 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 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.

License

The MIT License (MIT)

Copyright (c) 2019-2023 Davide Faconti

Copyright (c) 2018-2019 Davide Faconti, Eurecat

Copyright (c) 2014-2018 Michele Colledanchise

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

4.3.7 (2023-09-12)

• Test and fix issue #653: AnyTypeAllowed by default
• more time margin for Windows tests
• Add support for successful conda builds (#650)
• fix: Update how unit tests are executed in the github workflow so they are actually run on windows (#647)
• Add unit test related to SequenceWithMemory #636
• Contributors: Davide Faconti, tony-p

4.3.6 (2023-08-31)

• Simplify the visualization of custom type in Groot2 and improved tutorial 12
• fix compilation warnings
• Apply changes in ReactiveSequence to ReactiveFallback too
• test that logging works correctly with ReactiveSequence #643
• reduce the number of times preconditions scripts are executed
• PauseWithRetry test added
• Contributors: Davide Faconti

4.3.5 (2023-08-14)

• fix issue #621: ConsumeQueue
• feat: add template specialization for convertFromString deque (#628)
• unit test added
• Update groot2_publisher.h (#630)
• unit test issue #629
• WhileDoElseNode can have 2 or 3 children (#625)
• fix issue #624 : add TimeoutNode::halt()
• fix recording_fist_time issue on windows (#618)
• Contributors: Aglargil, Davide Faconti, Michael Terzer, benyamin saedi, muritane

4.3.4 (2023-07-25)

• Fix error #617 in TestNode
• minitrace updated
• fix issue #615 : don\'t execute preconditions if state is RUNNING
• README.md
• fix issue #605: strip whitespaces and better error message
• Export cxx-standard with target. (#604)
• feature #603: add static method [std::string description()] to manifest
• fix issue with move semantic
• Contributors: Davide Faconti, Sebastian Kasperski

4.3.3 (2023-07-05)

• bug fix #601: onHalted not called correctly in Control Nodes
• Groot recording (#598)
  • add recording to groot publisher
  • fixed
  • protocols compatibility
  • reply with first timestamp
  • remove prints
• Fix error when building static library (#599)
• fix warnings
• 4.3.2
• prepare release
• fix #595 : improvement in blackboard/scripting types (#597)
• Merge branch \'master\' of github.com:BehaviorTree/BehaviorTree.CPP
• Merge branch \'parallel_all\'
• Fix Issue 593 (#594): support skipping in Parallel node
• fix ParallelAll
• adding ParallelAll, WIP
• Contributors: Davide Faconti, Oleksandr Perepadia

4.3.2 (2023-06-27)

• fix #595 : improvement in blackboard/scripting types (#597)
• Fix Issue 593 (#594): support skipping in Parallel node
• adding ParallelAll
• Contributors: Davide Faconti

4.3.1 (2023-06-21)

• fix issue #592
• use lambda in tutorial
• add script condition
• \"fix\" issue #587: ReactiveSequence should set conditions to IDLE
• better error message
• Fix issue #585
• Contributors: Davide Faconti

4.3.0 (2023-06-13)

• use PImpl in multiple classes
• updated FileLogger2
• better error messages
• blackboard refactoring to fix buggy _autoremap
• improved support for default values
• fix error and add nodiscard
• Fix #580 : more informative error when not specializing BT::toStr
• add builtin models to WriteTreeToXML
• add simple example to generate logs
• add Sleep Node
• Fix #271: better error message
• remove EOL ros2 from CI
• Contributors: Davide Faconti

4.2.1 (2023-06-07)

• Fix #570: string_view set in blackboard
• Fix missing attribute in generated XML (writeTreeNodesModelXML)
• Allow registration of TestNode
• Contributors: Davide Faconti, Oleksandr Perepadia

4.2.0 (2023-05-23)

• add more informative IDLE status
• more informative error message when trying to register virtual classes
• fixes and simpler getAnyLocked
• add Tree::getNodesByPath
• add FileLogger2
• change getPortAny name and fic loop_node
• Lexy updated to release 2022.12.1
• do not skip pre-post condition in substituted tick
• added Loop node
• deprecating getAny
• revert new behavior of Sequence and Fallback
• add resetChild to all the decorators that missed it
• Add test related to issue #539
• related to #555
• Critical bug fix in XML exporting
• Fix writeTreeNodesModelXML
• fix ament not registering executables as tests
• fix std::system_error in TimeoutNode
• minor changes, mostly comments
• add version string
• old ZMQ publisher removed
• Add RunOnce, based on #472
• Contributors: Alberto Soragna, Davide Faconti, Ga