⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

Start leveraging the advantages of Behavior Trees 🌳 fully integrated with ROS 2 🤖

AutoAPMS is a heavily extensible development framework for behavior-based ROS 2 applications. It provides a highly modular integration of behavior trees, implements a powerful execution engine and offers convenient CLI tooling for deploying behaviors with ease.

The intention of this project is to make it significantly more user-friendly and less error prone to develop autonomous robotics with behavior trees. The core packages are written in C++ and a supplementary Python API exposes high-level features for scripting.

[!NOTE] Currently we support Linux only!.

✨ Design & Highlights

This project adopts the behavior tree implementation provided by BehaviorTree.CPP and embeds it into the ROS 2 ecosystem so that developers have a much easier time writing custom behaviors and distributing them among robots.

Here are some of the most prominent features offered by this repository:

• Convenient resource management using ament_cmake and ament_index

• Inherently extensible due to plugin-based design

• Flexible and highly configurable behavior execution engine

• Powerful C++ behavior tree builder API (a supplement to BehaviorTree.CPP)

• High-level node manifests for registering node plugins without writing a single line of code

• Support for custom behavior definitions and tree builder algorithms

• ros2 behavior command extending the ROS2 CLI for behavior management

• Abstractions for PX4 Autopilot available with auto-apms-px4

• Comprehensive user guide and API documentation

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

1. Create a ROS 2 workspace and clone this repository

    mkdir ros2_ws && cd ros2_ws
    (mkdir src && cd src && git clone https://github.com/autoapms/auto-apms.git)
    

1. Install all required dependencies. We assume that you already installed ROS 2 on your system

    rosdep init  # Skip this if rosdep has already been initialized
    rosdep update
    rosdep install --from-paths src --ignore-src -y
    

1. Build and install all packages required for auto_apms_examples

    colcon build --packages-up-to auto_apms_examples --symlink-install
    

1. Run your first behavior using ros2 behavior. This is an extension of the ROS 2 CLI introduced by the auto_apms_ros2behavior package

    source install/setup.bash
    ros2 behavior run auto_apms_examples::demo::HelloWorld --blackboard name:=Turtle
    

Check out the demo using pyrobosim

We provide a guide for running a cool visual demonstration on complex behaviors created with AutoAPMS in the auto_apms_simulation repository. The simulation shows multiple “robots” moving in a magical hall adjusting their behavior dynamically according to the following policy: Approach the goal as long as the hallway is not occupied - if it is, retreat. Piertotum Locomotor!

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