Repository Summary

Checkout URI https://github.com/stonier/py_trees.git
VCS Type git
VCS Version release/0.8.x
Last Updated 2019-01-18
Dev Status DEVELOPED
Released RELEASED

Packages

Name Version
py_trees 0.8.3

README

Py Trees

Status

Devel 0.8.x 0.6.x 0.5.x
devel-Sources 0.8.x-Sources 0.6.x-Sources 0.5.x-Sources
devel-Status 0.8.x-Status melodic-Status kinetic-Status
devel-Docs 0.8.x-Docs 0.6.x-Docs 0.5.x-Docs

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 0.8.x 0.6.x 0.5.x
py_trees-msgs - 0.3.x 0.3.x
py_trees-ros - 0.5.x 0.5.x
rqt_py_trees - 0.3.x 0.3.x

Repository Summary

Checkout URI https://github.com/stonier/py_trees.git
VCS Type git
VCS Version 0.4-indigo-kinetic
Last Updated 2017-02-28
Dev Status DEVELOPED
Released UNRELEASED

Packages

Name Version
py_trees 0.4.1
py_trees_suite 0.4.1

README

Py Trees Suite

Release License

About

Expecting your robot to behave? You are probably in the wrong place.

This is a python implementation of behaviour trees. The core classes are pure python, along with various wrapper classes and custom behaviours for ROS.

Coming soon...a full set of tutorials and documentation.

Repository Summary

Checkout URI https://github.com/stonier/py_trees.git
VCS Type git
VCS Version 0.3-indigo
Last Updated 2016-08-25
Dev Status DEVELOPED
Released UNRELEASED

Packages

Name Version
py_trees 0.3.0
py_trees_suite 0.3.0

README

Py Trees Suite

Release License

About

Expecting your robot to behave? You are probably in the wrong place.