No version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
kilted

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
rolling

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

No version for distro noetic showing jazzy. Known supported distros are highlighted in the buttons above.

autoapms repository

auto_apms_behavior_tree auto_apms_behavior_tree_core auto_apms_examples auto_apms_interfaces auto_apms_mission auto_apms_ros2behavior auto_apms_util

ROS Distro
jazzy

Repository Summary

Checkout URI	https://github.com/AutoAPMS/auto-apms.git
VCS Type	git
VCS Version	master
Last Updated	2026-05-14
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Packages

Name	Version
auto_apms_behavior_tree	1.5.1
auto_apms_behavior_tree_core	1.5.1
auto_apms_examples	1.5.1
auto_apms_interfaces	1.5.1
auto_apms_mission	1.5.1
auto_apms_ros2behavior	1.5.1
auto_apms_util	1.5.1

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

auto-apms-gif

autoapms-hierarchy

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

AutoAPMS (Automated Action Planning and Management System) 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.

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.

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.

✨ Highlights

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
Comprehensive User Guide and API Docs
Web-based behavior tree editor and deployment tool AutoAPMS Studio

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

Recommended: Install debian packages

**Core API** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core ``` **Standard Nodes & Behavior Executor** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree ``` **CLI Tooling** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior ``` **Examples** ```bash sudo apt install ros-$ROS_DISTRO-auto-apms-examples ```

Alternative: Build from source

1. Create a [ROS 2 workspace](https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html) and clone this repository ```bash 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 ```bash rosdep init # Skip this if rosdep has already been initialized rosdep update rosdep install --from-paths src --ignore-src -y File truncated at 100 lines [see the full file](https://github.com/AutoAPMS/auto-apms/tree/master/README.md)

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that [license](http://www.apache.org/licenses/LICENSE-2.0.html): ~~~ 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. ~~~

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrokilted

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrorolling

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

CONTRIBUTING

autoapms repository

ROS Distrojazzy

Repository Summary

Packages

README

⚙️ AutoAPMS - Streamlining Behaviors in ROS 2

✨ Highlights

🚀 Getting Started

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
kilted

ROS Distro
rolling

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy

ROS Distro
jazzy