py_trees_ros
ROS2 extensions and behaviours for py_trees.
Links
README
PyTrees for ROS
Behaviours, trees, and utilities that extend PyTrees for use with ROS.
Getting Started (ROS 2)
Choose your ROS distro and install via debians, e.g., for Jazzy:
$ sudo apt install \
ros-jazzy-py-trees \
ros-jazzy-py-trees-ros-interfaces \
ros-jazzy-py-trees-ros \
ros-jazzy-py-trees-ros-tutorials \
ros-jazzy-py-trees-ros-viewer
Dive into the PyTrees Docs for a basic primer (non-ROS) on behaviour trees, then move on to the PyTrees ROS Tutorials which incrementally build a scenario for a robot. The PyTrees 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.
Getting Started (ROS 1)
Refer to the documentation links in the matrix below (note: you’ll find the tutorials in the py_trees_ros
documentation).