Welcome to ros_bt_py’s documentation!

Introduction

ros_bt_py is a Python package for writing and executing Behavior Trees.

It is built to enable high-level (aka task level) mission control for robots, similar to BehaviorTree.Cpp, SMACH, FlexBE or RAFCON.

The roy_bt_py repository is home to multiple elements enabling you to quickly get started with BT development without the need to write any code:

• The basic framework holding ros_bt_by together.

• A “standard library” of Behavior Tree nodes (i.e. subclasses of ros_bt_py.node.Node) that already allow the construction of complex robot mission Behavior Trees. While these will let you do basically whatever you want, writing your own nodes might be helpful after you are familiar with the library.

• The ros_bt_py web GUI, which should in general be your interface to interact with the library. Generating trees through code is currently possible, but neither supported nor documented.

Mission Statement

ros_bt_py was created with the following goals in mind:

• Fully ROS compatible.

• Mission control for Robots, meaning long runing processes.

• Possiblity to distribute it among multiple robots to enable cooperation in robot Teams.

• Extendible, understandable and typesafe implementation.

It is meant as a high level control option similar to SMACH or FlexBE.

Table of Contents

• Getting Started
  • Installation
  • Running ros_bt_py
• Basic Tutorial
  • Starting up ros_bt_py
  • Examining the Interface
  • Writing your first BT
  • Working with bt_py
  • Understanding Flow Control
  • Writing a more complex BT
  • Using Subtrees
  • Using ROS Interfaces with ros_bt_py
• Advanced Tutorial
  • Using OptionRefs
• Creating a Node Class package
  • Package Creation
  • Example Package
• Creating Node Classes
  • 1. Create a new class
  • 2. Fill in the NodeConfig
  • 3. Implement the _do_ methods
  • 4. Test your node!
• Testing Node Classes
  • Creating a Test Folder and Unit Test Script
  • Running your Unit Tests
  • Adding your Unit Tests to CMakeLists.txt
  • Adding your Unit Tests to setup.py
  • Running Tests via colcon
• Advanced Launch Configuration
  • Using Custom Node Classes in a Project
  • Other Important Launch Arguments
• Utility Functions
  • What?
  • Why?
  • How?
• API
  • ros_bt_py.debug_manager module
  • ros_bt_py.exceptions module
  • ros_bt_py.helpers module
  • ros_bt_py.node module
  • ros_bt_py.node_config module
  • ros_bt_py.node_data module
  • ros_bt_py.ros_helpers module
  • ros_bt_py.tree_manager module

Indices and tables

• Index

• Module Index

• Search Page