Py Trees

Status

Devel	0.8.x	0.6.x	0.5.x

About

This is a python3 implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics. Brief feature list:

• Sequence, Selector, Parallel and Chooser composites
• Blackboards for data sharing
• Python generators for smarter ticking over the tree graph
• Python decorators for enabling meta behaviours
• Render trees to dot graphs or visualise with ascii graphs on stdout

Note: Official python2 support was dropped in the 0.6.x releases although it may 'just work'.

Installation

From ppa on Ubuntu/Bionic:

$ sudo apt install python3-py-trees

From pypi:

$ pip install py_trees

From the ROS2 ecosystem:

$ sudo apt install ros-<rosdistro>-py-trees

In a Python Virtual Environment:

$ git clone https://github.com/stonier/py_trees
$ cd py_trees
$ source ./virtualenv.bash

Build your own python3 deb:

$ git clone https://github.com/stonier/py_trees
$ cd py_trees
$ source ./virtualenv.bash
$ make deb

Demos and Tutorials

API, guides and demo instructions can be found in the sphinx generated documetnation on Read-The-Docs (devel, 0.8.x, 0.6.x)!

PyTrees in ROS

This repository is python-only, however additional modules & documentation are available for using py_trees with ROS that provide ROS-specific behaviours, logging, tools and visualisations in ROS.

	ROS2/Bouncy	ROS1/Melodic	ROS1/Kinetic
py_trees
py_trees-msgs	-
py_trees-ros	-
rqt_py_trees	-