This is a Behavior Tree library meant to be an alternative to BehaviorTree.cpp, SMACH, FlexBE and the like.

It includes a ReactJS-based web GUI and all the building blocks you need to build moderately advanced mission control Behavior Trees without writing a single line of code!

The main documentation effort is found in the docfolder. Simply execute the following commands in your shell to get browsable HTML documentation, including some tutorials:

$ cd ros_bt_py/doc
$ make html
$ cd build
$ python -m http.server & xdg-open http://localhost:8000/html

To actually start using ros_bt_py, you need to install its dependencies first:

$ cd colcon_workspace
$ rosdep install --from-paths src --ignore-src -r -y

Then you can just build the package with your prefered method i.e. colcon build

Note: Do not build the workspace using --symlink-install as this is currently not working with generate_parameter_library. You will get an error when running ModuleNotFoundError: No module named 'ros_bt_py.parameters'.

The command

$ ros2 launch ros_bt_py ros_bt_py.launch.py enable_web_interface:=True

will start a BT server and the rosbridge and webserver needed for the GUI. Afterwards, you can open http://localhost:8085/index.html to use the editor.

The web interface can be launched stand alone of the library, using the following command:

$ ros2 launch ros_bt_py_web_gui ros_bt_py_web_gui.launch.py web_server_port:=8085 web_server_address:=0.0.0.0