Travis (Linux):

AppVeyor (Windows):

Question?

About BehaviorTree.CPP

This C++ 14 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 in you application.

There are few features that 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.

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

• You can staticaly link your custom TreeNodes or convert them into plugins which can be loaded 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.

• Last but not least: it is well documented!

Documentation

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

To find more details about the conceptual ideas that make this implementation different from others, you can read the final deliverable of the project MOOD2Be.

Design principles

The main goal of this project is to create a Behavior Tree implementation that uses the principles of Model Driven Development to separate the role of the Component Developer from the Behavior Designer.

In practice, this means that:

• Custom TreeNodes must be reusable building blocks. You should be able to implement them once and reuse them to build many behaviors.

• To build a Behavior Tree out of TreeNodes, the Behavior Designer must not need to read nor modify the C++ source code of a given TreeNode.

• Complex Behaviours must be composable using Subtrees

Many of the features and, sometimes, the apparent limitations of this library, might be a consequence of this design principle.

For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important to avoid "name pollution" and allow the creation of large scale trees.

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 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 (plain old cmake)

On Ubuntu, you are encourage to install the following dependencies:

 sudo apt-get install libzmq3-dev libboost-dev

Other dependencies are already included in the 3rdparty folder.

To compile and install the library, from the BehaviorTree.CPP folder, execute:

 mkdir build; cd build
 cmake ..
 make
 sudo make install

If you want to use BT.CPp in your application a typical CMakeLists.txt file will look like this:

cmake_minimum_required(VERSION 3.5)

project(hello_BT)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(BehaviorTreeV3)

add_executable(${PROJECT_NAME} "hello_BT.cpp")
target_link_libraries(${PROJECT_NAME} BT::behaviortree_cpp_v3)

ROS1 or ROS2 users (Catkin/Ament)

You can easily install the package with the command

  sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3

If you want to compile it with catkin, you must include this package to your catkin workspace.

Acknowledgement

This library was developed at Eurecat - https://eurecat.org/en/ (main author, Davide Faconti) in a joint effort with the Italian Institute of Technology (Michele Colledanchise).

This software 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. Therefore, MOOD2Be has been supported by the European Horizon2020 project RobMoSys. This software is RobMoSys conformant.

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) 2018-2020 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

3.2.0 (2020-03-22)

• root_node removed in favour of a method. tickRoot() added
• Moving to c++14
• fixed compilation on ROS2 and ubuntu 18.94
• fix compilation and unit tests
• Boost coroutine (#164) Remove the faulty coroutine that created significant problems in favour of boost::coroutine2 (use older boost::coroutine as a fallback).
• doc fix
• Fix issue #140
• Merge branch \'master\' of github.com:BehaviorTree/BehaviorTree.CPP
• (issue #163) fix ded code
• Merge pull request #162 from unvestigate/master Tree is declared as a struct, so it needs to be forward-declared as a...
• Tree is declared as a struct, so it needs to be forward-declared as a struct too.
• Merge pull request #161 from unvestigate/master A couple of small changes needed to build on MSVC2015
• The __cplusplus macro does not work properly prior to MSVC2017 15.7 Preview 3: https://devblogs.microsoft.com/cppblog/msvc-now-correctly-reports-__cplusplus/
• MSVC2015 seems to need an explicit operator== for comparing against literal strings.
• [Breaking API change] make TreeNode::setStatus() protected Users are not supposed to set the status of a node manually from the outside. This might be a source of hard to debug errors as seen in Navigation2 of ROS2. If this change breaks your code, there is an high probability that your code was already broken.
• fix warning
• comments
• Update action_node.h
• Fix bug in default port values
• fix issue #141
• fix unit tests
• cosmetic: names changed
• change API of haltChildren()
• fix unittest switch should halt
• halt the SwitchNode correctly
• add unittest switch_node
• Merge pull request #155 from BehaviorTree/imgbot [ImgBot] Optimize images
• Merge pull request #156 from HansRobo/patch-1 Fix error message
• Modify documentation images. SequenceNode: AimTo -> AimAt \"Aim at a target\" might sound more appropriate in this example than \"aim to reach a goal\". SequenceStar: Sequence -> ReactiveSequence The text says \"On the other hand, isBatteryOK must be checked at every tick, for this reason its parent must be a ReactiveSequence.\" Modify the image to match the text.
• Fix bug #149
• Merge pull request #152 from happykeyboard/add_unix_BUILD_SHARED Added BUILD_SHARED_LIBS option to cmake. If set to \"OFF\", static libr...
• Added BUILD_SHARED_LIBS option to cmake. If set to \"OFF\", static library will be generated for a UNIX build If BUILD_UNIT_TESTS is off, do not search for gtest library, and do not include tests subdirectory
• experimental integration of Switch ControlNode
• bug fix
• Added SubTtreeWrapper
• Merge pull request #150 from seanyen/patch-1 Install library to portable locations
• Install library to portable locations
• Merge pull request #126 from Jesus05/patch-1 (3dparty coroutine) ifdef MSV_VER to WIN32
• Merge pull request #135 from 3wnbr1/master Add macOS support
• Merge pull request #138 from HansRobo/fix/remerge_#53 Add #53 content
• Merge pull request #142 from RavenX8/patch-1 Fixed VS2017/2019 compile error
• Merge pull request #145 from renan028/fix_retry_node_negative_tries fix RetryNode loop that should be an infinity loop if max_attempts_ =...
• Update t11_runtime_ports.cpp
• make easier to create ports at run-time
• fix RetryNode loop that should be an infinity loop if max_attempts_ == -1 As documentation said: \"Use -1 to create an infinite loop.\"
• Update basic_types.cpp Added missing include for std::setlocale. This fixes the following error in Visual Studio: https://ci.appveyor.com/project/facontidavide59577/behaviortree-cpp/build/job/d1ttd2w84nvnqo2e#L52
• Merge pull request #139 from scgroot/master Fixed compiling for c++17
• Fixed compiling for c++17
• Add #53 content
• Merge pull request #136 from msadowski/msadowski-readme-fix Fix some typos in readme
• Fix some typos in readme
• Add macOS support
• fix issue #120
• update flatbuffers and avoid ambiguities
• Update README.md
• (3dparty coroutine) ifdef MSV_VER to WIN32 On Windows not only MSVC compilator.
• Contributors: 3wnbr1, Christopher Torres, Davide Faconti, HansRobo, ImgBotApp, Jesus, Kotaro Yoshimoto, Mateusz Sadowski, Peter Polidoro, Sean Yen, Sebastian Ahlman, Steffen Groot, Vadim Linevich, renan028

3.5.0 (2020-05-14)

• added IfThenElse and WhileDoElse
• issue #190
• unit test added
• reverting to a better solution
• RemappedSubTree added
• Fix issue #188
• added function const std::string& key (issue #183)
• Contributors: Davide Faconti, daf@blue-ocean-robotics.com
• added IfThenElse and WhileDoElse
• issue #190
• unit test added
• reverting to a better solution
• RemappedSubTree added
• Fix issue #188
• added function const std::string& key (issue #183)
• Contributors: Davide Faconti, daf@blue-ocean-robotics.com

3.1.1 (2019-11-10)

• fix samples compilation (hopefully)
• Contributors: Davide Faconti

3.1.0 (2019-10-30)

• Error message corrected
• fix windows and mingw compilation (?)
• Merge pull request #70 from Masadow/patch-3 Added 32bits compilation configuration for msvc
• make Tree non copyable
• fix #114
• Merge branch \'master\' of https://github.com/BehaviorTree/BehaviorTree.CPP
• critical bug fix affecting AsyncActionNode When a Tree is copied, all the thread related to AsyncActionNode where invoked. As a consequence, they are never executed, despite the fact that the value RUNNING is returned.
• Fix issue #109
• fix #111
• Merge pull request #108 from daniel-serrano/add-RobMoSys-acknowledgement Add robmosys acknowledgement
• Add robomosys acknowledgement as requested
• Add robomosys acknowledgement as requested
• added more comments (issue #102)
• Update README.md
• Add files via upload
• Merge pull request #96 from LoyVanBeek/patch-1 Fix typo
• Update tutorial_04_sequence_star.md
• fix compilation
• removing backward_cpp Motivation: backward_cpp is SUPER useful, but it is a library to use at the application level. It makes no sense to add it at the library level.
• Merge pull request #95 from LoyVanBeek/patch-1 Remove 0 in front of http://... URL to publication
• Remove 0 in front of http://... URL to publication Hopefully, this makes the link correctly click-able when rendered to HTML
• fix issue #84 (Directories)
• add infinite loop to Repeat and Retry (issue #80)
• fix unit test
• issue #82
• fix issue #82
• Added 32bits compilation configuration for msvc
• Contributors: Daniel Serrano, Davide Facont, Davide Faconti, Jimmy Delas, Loy

3.0.7 (2019-04-02)

• this should fix issue with tinyXML2 once and for all (maybe...)
• improvement #79
• doc fix
• Deprecating <remap> tag in SubTree
• fix windows compilation
• Update README.md
• back to c++11
• Contributors: Davide Faconti, Ferran Roure

3.0.4 (2019-03-19)

• fix issue #72 with sibling subtrees
• Update .travis.yml
• Contributors: Davide Faconti

3.0.3 (2019-03-12)

• moving to C++14... deal with it
• updated tinyXML2. Should fix several issues too
• add \"d\" to debug library on Windows
• fixed compilation error on Windows x64 (issue #63)
• Improved MSVC compilation Added _CRT_SECURE_NO_WARNINGS flag for msvc compilation
• adding TreeNode::modifyPortsRemapping that might be useful in the future
• Merge pull request #64 from luminize/patch-1 docs/xml_format.md
• Merge pull request #65 from luminize/patch-2 docs/tutorial_01_first_tree.md: fix typo
• docs/tutorial_01_first_tree.md: fix typo
• fix compilation in Windows/Release
• remove a warning in Windows
• Update README.md
• Merge branch \'windows_compilation\'
• fix issue #63 : compile on windows
• Update .travis.yml
• Create .appveyor.yml
• fix compilation on windows
• fix potential issue
• bug fix
• Update README.md
• Contributors: Bas de Bruijn, Davide Faconti, Jimmy Delas, hlzl

3.0.2 (2019-03-04)

• make flatbuffers visible to other project (such as Groot)
• docs fix
• Contributors: Davide Faconti

3.0.0 (2019-02-27)

• Merge branch \'ver_3\'. Too many changes to count...
• Contributors: Davide Facont, Davide Faconti, ImgBotApp, Victor Lopez

2.5.1 (2019-01-14)

• fix installation directory
• #39 Fix Conan version (#42) Signed-off-by: Uilian Ries <uilianries@gmail.com>
• Update .travis.yml
• Conan package distribution (#39)
• Non-functional refactoring of xml_parsing to clean up the code
• cosmetic changes in the code of BehaviorTreeFactory
• XML schema. Related to enchancement #40
• call setRegistrationName() for built-in Nodes The methos is called by BehaviorTreefactory, therefore it registrationName is empty if trees are created programmatically.
• Reset reference count when destroying logger (issue #38)
• Contributors: Davide Facont, Davide Faconti, Uilian Ries

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