Main/99 Work/0 OneSec/OneSecNotes/30 Engineering Skills/Robotics/Behaviour Trees.md

Sources https://www.youtube.com/watch?v=kRp3eA09JkM&ab_channel=HummingbirdRobotics https://github.com/thehummingbird/robotics_demos/blob/main/behavior_trees/grasp_place_robot_demo/bt_demo.cpp

• https://github.com/polymathrobotics/ros2_behavior_tree_example/tree/main/src/plugins
• https://github.com/BehaviorTree/BehaviorTree.CPP/issues/412
• https://github.com/Adlink-ROS/BT_ros2

Using BT with ROS2

https://www.youtube.com/watch?v=KO4S0Lsba6I&ab_channel=TheConstruct

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Move Robot

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Definitions

• Sequence: can be considered as a logical AND gate
• Fallback: can be considered as a logical OR gate

Library Description

Alternatively you can use the python library: https://github.com/splintered-reality/py_trees_ros/tree/devel

Behaviortree Factory

Here the behaviortree logic is stored and managed. Nodes that implement actions or conditions need to be registered here such that they can be executed. The BehaviorTree Factory is the place where the Business Logic is implemented.

BehaviorTree Design

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