py_trees_ros

ROS2 extensions and behaviours for py_trees.

README

PyTrees for ROS

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

Trees

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.

ROS 2

Rolling

Jazzy

Humble

py_trees

2.3.x
Build Status
2.3.x-Docs

2.3.x
Build Status
2.3.x-Docs

2.3.x
Build Status
2.3.x-Docs

py_trees_ros_interfaces

2.3.x
Build Status

2.3.x
Build Status

2.3.x
Build Status

py_trees_ros

2.3.x
Build Status
2.3.x-Docs

2.3.x
Build Status
2.3.x-Docs

2.3.x
Build Status
2.3.x-Docs

py_trees_ros_tutorials

2.3.x
Build Status
2.3.x-Docs

2.3.x
Build Status
2.3.x-Docs

2.3.x
Build Status
2.3.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

py_trees_ros_viewer

0.2.x
Build Status
0.2.x-Docs

0.2.x
Build Status
0.2.x-Docs

0.2.x
Build Status
0.2.x-Docs

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).

ROS 1

Noetic

py_trees

0.7.x
Build Status
Docs Status

py_trees_msgs

0.3.x
Build Status
Docs Status

py_trees_ros

0.6.x
Build Status
Docs Status

rqt_py_trees

0.4.x
Build Status