NEWS!

Our book Behavior Trees in Robotics and AI, published by CRC Press Taylor & Francis, is available for purchase (ebook and hardcover) on the CRC Press Store or Amazon. The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084

Tutorials available at https://btirai.github.io/

NOTE:

The YARP version of this library has a GUI as the following:

ROS-Behavior-Tree

A ROS behavior tree library. The leaf nodes (user defined) can be either in C++ or python. Read the user manual for more information.

REFERENCE

Please refer to the following paper when using the library:

How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees. Michele Colledanchise and Petter Ogren. IEEE Transaction on Robotics 2017.

bibtex entry:

@ARTICLE{TRO17Colledanchise,
author={M. Colledanchise and P. Ögren},
journal={IEEE Transactions on Robotics},
title={{How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees}},
year={2017},
volume={33},
number={2},
pages={372-389},
keywords={Computer architecture;Decision trees;High definition video;Robot control;Switches;Behavior trees (BTs);decision trees;finite state machines (FSMs);hybrid dynamical systems (HDSs);modularity;sequential behavior compositions;subsumption architecture},
doi={10.1109/TRO.2016.2633567},
ISSN={1552-3098},
month={April},}

INFO

Contains 2 packages: behavior_tree_core and behavior_tree_leaves.

behavior_tree_core: Contains the core BT source code, including the tree and the leaf nodes.

behavior_tree_leaves: Contains action and condition specifications for BT leaf nodes running as external ROS nodes.

User manual available in the project folder (BTUserManual.pdf):

BUILD STATUS

	Hydro	Indigo	Jade	Kinetic
Release

DEPENDENCIES

Regarding visualization purposes:

• Opengl
• Glut
• xdot: For visualizing using DOT language.
• rqt_dot: For visualizing the tree in RQT with DOT language.

Regarding unit tests:

• GTest

File truncated at 100 lines see the full file