ros_bt_py Logo
  • Getting Started
    • Installation
      • Installing from binary packages
      • Installing from source
    • Running ros_bt_py
      • Launch Options
      • Stand-alone Web Interface
  • Tutorials
    • Basic Tutorial
      • Starting up ros_bt_py
      • Examining the Interface
        • Menu Bars
        • Package Loader
        • Node List
        • Editor Window
        • Node Menu
      • Writing your first BT
        • 1. Make sure the Tree is not currently running
        • 2. Add a control flow node
        • 3. Add a leaf node to the tree
        • 4. Modify the Constant node
        • 5. Add a second Constant and a processing step
        • 6. Connecting the Data Wirings
        • 7. Run the finished tree
      • Working with bt_py
        • Tree Execution
        • Nodes
        • Data Graph
        • Working with larger trees
      • Understanding Flow Control
        • Basic Control Flows
        • Advanced Control Flows
        • Regarding Memory
      • Writing a more complex BT
        • 1. Adding a branching path
        • 2. Introducing randomized Outputs
      • Using Subtrees
        • Subtree I/O
        • Using a Subtree in our example tree
      • Using ROS Interfaces with ros_bt_py
        • Building and processing messages
        • Topics
        • Services and Actions
    • Advanced Tutorial
      • Using OptionRefs
        • Defining OptionRefs in the NodeConfig
  • Creating Nodes
    • 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
  • Configuration & Utilities
    • 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
      • DebugManager
        • DebugManager.report_state()
        • DebugManager.report_tick()
        • DebugManager.set_collect_node_diagnostics()
    • ros_bt_py.exceptions module
      • AssignmentException
      • BehaviorTreeException
      • MigrationException
      • MissingParentError
      • NodeConfigError
      • NodeStateError
      • TreeTopologyError
    • 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
ros_bt_py
  • Tutorials

Tutorials

Basic Tutorial

  • 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

  • Advanced Tutorial
    • Using OptionRefs
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