ROS Index
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | v3.8 |
| Last Updated | 2024-06-26 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp_v3 | 3.8.7 |
README
BehaviorTree.CPP
This C++ 14 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines in your application.
There are few features that make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently.
-
Trees are defined using a Domain Specific Scripting scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, Trees are not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins which can be loaded at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
-
Last but not least: it is well documented!
Documentation
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
To find more details about the conceptual ideas that make this implementation different from others, you can read the final deliverable of the project MOOD2Be.
Forum and Community
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit https://discourse.behaviortree.dev/
Commercial support
Are you using BT.CPP in your commercial product and you need technical support / consulting? You can get in touch at dfaconti@aurynrobotics.com and we will happy to discuss your use case and needs.
Design principles
The main goal of this project is to create a Behavior Tree implementation that uses the principles of Model Driven Development to separate the role of the Component Developer from the Behavior Designer.
In practice, this means that:
-
Custom TreeNodes must be reusable building blocks. You should be able to implement them once and reuse them to build many behaviors.
-
To build a Behavior Tree out of TreeNodes, the Behavior Designer must not need to read nor modify the C++ source code of a given TreeNode.
-
Complex Behaviours must be composable using Subtrees
Many of the features and, sometimes, the apparent limitations of this library, might be a consequence of this design principle.
For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important to avoid “name pollution” and allow the creation of large scale trees.
GUI Editor
Editing a BehaviorTree is as simple as editing a XML file in your favourite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot out.
Watch Groot and BehaviorTree.CPP in action
Click on the following image to see a short video of how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree.
How to compile (plain old cmake)
On Ubuntu, you are encourage to install the following dependencies:
sudo apt-get install libzmq3-dev libboost-dev
Other dependencies are already included in the 3rdparty folder.
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | v3.8 |
| Last Updated | 2024-06-26 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp_v3 | 3.8.7 |
README
BehaviorTree.CPP
This C++ 14 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines in your application.
There are few features that make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently.
-
Trees are defined using a Domain Specific Scripting scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, Trees are not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins which can be loaded at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
-
Last but not least: it is well documented!
Documentation
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
To find more details about the conceptual ideas that make this implementation different from others, you can read the final deliverable of the project MOOD2Be.
Forum and Community
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit https://discourse.behaviortree.dev/
Commercial support
Are you using BT.CPP in your commercial product and you need technical support / consulting? You can get in touch at dfaconti@aurynrobotics.com and we will happy to discuss your use case and needs.
Design principles
The main goal of this project is to create a Behavior Tree implementation that uses the principles of Model Driven Development to separate the role of the Component Developer from the Behavior Designer.
In practice, this means that:
-
Custom TreeNodes must be reusable building blocks. You should be able to implement them once and reuse them to build many behaviors.
-
To build a Behavior Tree out of TreeNodes, the Behavior Designer must not need to read nor modify the C++ source code of a given TreeNode.
-
Complex Behaviours must be composable using Subtrees
Many of the features and, sometimes, the apparent limitations of this library, might be a consequence of this design principle.
For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important to avoid “name pollution” and allow the creation of large scale trees.
GUI Editor
Editing a BehaviorTree is as simple as editing a XML file in your favourite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot out.
Watch Groot and BehaviorTree.CPP in action
Click on the following image to see a short video of how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree.
How to compile (plain old cmake)
On Ubuntu, you are encourage to install the following dependencies:
sudo apt-get install libzmq3-dev libboost-dev
Other dependencies are already included in the 3rdparty folder.
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/BehaviorTree/BehaviorTree.CPP.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-29 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| behaviortree_cpp | 4.7.2 |
README
BehaviorTree.CPP 4.7
This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.
Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.
There are few features which make BehaviorTree.CPP unique, when compared to other implementations:
-
It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.
-
You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).
-
Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.
-
You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.
-
It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.
-
It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.
Documentation and Community
You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/
If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum
GUI Editor
Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.
How to compile
BT.CPP requires a compile that supports c++17.
Three build systems are supported:
- colcon (ament), if you use ROS2
- conan otherwise (Linux/Windows).
- straight cmake if you want to be personally responsible for dependencies :)
Compiling with conan:
Assuming that you are in the parent directory of BehaviorTree.CPP:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:
mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel
If you want to build in a pixi project (conda virtual environment).
pixi run build
If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .
Commercial support
Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.
Star History
Previous version
File truncated at 100 lines see the full file