BehaviorTree.CPP 4.1

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 https://discourse.behaviortree.dev/

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 a XML file in your favourite 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 personal responsible for depndencies :)

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 you need technical support / consulting? You can contact the main author dfaconti@aurynrobotics.com to discuss your use case and needs.

License

The MIT License (MIT)

Copyright (c) 2014-2018 Michele Colledanchise

Copyright (c) 2018-2019 Davide Faconti, Eurecat

Copyright (c) 2019-2022 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

4.1.1 (2023-03-29)

• adding sqlite logger
• fix warning
• better cmake
• ManualSelector removed
• magic_enum updated
• fix issue #530: use convertFromString in scripting assignments
• added unit test
• files moved
• fix groot2 publisher
• minor fixes in blackboard
• fix XML: Subtree should remember the remapped ports
• add the ability to load substitution rules from JSON
• Update README.md
• Contributors: Davide Faconti

4.1.0 (2023-03-18)

• temporary disable codeql
• Groot2 interface (#528)
  • refactored groot2 interface
  • protocol updated
• merging groot2 publisher
• add observer
• prepare 4.1
• Update README.md
• fix issue #525 when ReactiveSequence contains skipped children
• fix reactive sequence (issue #526 and #525)
• better test
• add cast to ENUMS in ports
• changes ported from 4.1
• fix samples
• better include paths
• Control node and Decorators RUNNING before first child
• blackboard: update getKeys and add mutex to scripting
• add [[nodiscard]] and some othe minor changes
• add screenshot
• change the behavior of tickOnce to actually loop is wake up signal is... (#522)
  • change the behavior of tickOnce to actually loop is wake up signal is received
  • fix warning
• Cmake conan (#521)
  • boost coroutine substituted with minicoro. 3rd party updates
  • cmake refactoring + conan
  • fix cmake
  • fix build with conan and change CI
• fix CI in ROS1 (#519)
• fix alloc-dealloc-mismatch for _storage.str.data (#518)
• Fix issue #515: reactive sequence not skipped correctly
• Fix issue #517
• Merge branch \'master\' of github.com:BehaviorTree/BehaviorTree.CPP
• fix issue #492 (Threads::Threads)
• Fix boost dependency in package.xml (#512) [libboost-coroutine-dev]{.title-ref} has been merged into rosdistro on February 21st
  1. Link to merge request: https://github.com/ros/rosdistro/pull/35789/.
• fix compilation
• revert breaking change
• Merge branch \'master\' of github.com:BehaviorTree/BehaviorTree.CPP
• make default value of port optional, to allow empty strings
• Contributors: Alberto Soragna, Bart Keulen, Davide Faconti

4.0.2 (2023-02-17)

• fix issue #501
• fix issue #505
• solve issue #506
• prevent useless exception catcking
• fix issue #507
• adding the uid to the log to uniquely identify the nodes (#502)
• fix in SharedLibrary and cosmetic changes to the code
• using tinyxml ErrorStr() instead of ErrorName() to get more info about missing file (#497)
• Fixed use of ros_pkg for ROS1 applications (#483)
• Fix error message StdCoutLogger -> MinitraceLogger (#495)
• Fix boost dependency in package.xml (#493) Co-authored-by: Bart Keulen <b.keulen@avular.com>
• support Enums in string conversion
• fix issue 489
• updated example. Demonstrate pass by reference
• lexy updated
• rename haltChildren to resetChildren
• revert #329
• Merge branch \'master\' of github.com:BehaviorTree/BehaviorTree.CPP

• Small improvements (#479) * Make message for allowed port names more explicit Also throw an exception for unknown port direction rather than using [PortDirection::INOUT]{.title-ref}.

  • Small code improvements
  • Remove code without effect

• Fix some renaming for V4 (#480)

• Define NodeConfiguration for BT3 compatibility (#477)

• Implement #404 to solve #435 (gtest not found)

• fix issue #474 Make libraries dependencies private

• fix issue #413 (Delay logic)

• change suggested in #444

• add XML converter

• Add CodeQL workflow (#471)

• Update README.md

• Contributors: Ana, Bart Keulen, Christian Henkel, Davide Faconti, Ga