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splintered-reality / py_trees_ros

ROS extensions and implementations for py_trees
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behaviour-trees python robotics ros

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Py Trees for ROS

Behaviours, trees and utilities that extend py_trees for use with ROS.

Trees

Getting Started (ROS2)

Choose your ros distro and install via debs, e.g. for humble

$ sudo apt install \
    ros-humble-py-trees \
    ros-humble-py-trees-ros-interfaces \
    ros-humble-py-trees-ros \
    ros-humble-py-trees-ros-tutorials \
    ros-humble-py-trees-ros-viewer

Dive into the PyTree Docs for a basic primer (non-ROS) on behaviour trees, then move on to the the PyTree ROS Tutorials which incrementally build a scenario for a robot. The PyTree ROS documentation provides api docs for ROS specific trees, idioms and behaviours respectively.

For version specific releases of the documentation, refer to the documentation links in the matrix below.

ROS2 Rolling Humble Foxy Dashing
py_trees 2.2.x
Build Status
2.2.x-Docs		 2.2.x
Build Status
2.2.x-Docs		 2.1.x
Build Status
2.1.x-Docs		 1.3.x
-
1.3.x-Docs
py_trees_ros_interfaces 2.1.x
Build Status
2.1.x-Docs		 2.1.x
Build Status
2.1.x-Docs		 2.0.x
Build Status
1.2.x-Docs		 1.2.x
-
1.2.x-Docs
py_trees_ros 2.2.x
Build Status
2.2.x-Docs		 2.2.x
Build Status
2.2.x-Docs		 2.1.x
Build Status
2.1.x-Docs		 1.2.x
-
1.2.x-Docs
py_trees_ros_tutorials



2.1.x
Build Status
2.1.x-Docs		 1.0.x
-
1.0.x-Docs
py_trees_js 0.6.x
Build Status
0.6.x-Docs		 0.6.x
Build Status
0.6.x-Docs		 0.6.x
Build Status
0.6.x-Docs		 0.5.x
-
0.5.x-Docs
py_trees_ros_viewer



0.2.x
Build Status
0.2.x-Docs		 0.1.x
-
0.1.x-Docs

Getting Started (ROS1)

Refer to the documentation links in the matrix below (note: you'll find the tutorials in the py_trees_ros documentation).

ROS1 Noetic Melodic Kinetic
py_trees 0.7.x
Build Status
Docs Status		 0.6.x
Build Status
Docs Status		 0.5.x
-
-
py_trees_msgs 0.3.x
Build Status
Docs Status		 0.3.x
Build Status
Docs Status		 0.3.x
-
-
py_trees_ros 0.6.x
Build Status
Docs Status		 0.5.x
Build Status
Docs Status		 0.5.x
-
-
rqt_py_trees 0.4.x
Build Status		 0.3.x
Build Status		 0.3.x
-