mandicluka / behaviortree.ros2

BehaviorTree.CPP utilities to work with ROS2

BehaviorTree.ROS2

This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP together.

In particular, it provides a standard way to implement:

• Action clients.
• Service Clients.
• Topic Subscribers.
• Topic Publishers.

Our main goals are:

• to minimize the amount of bolierplate.
• to make asynchonous Actions non-blocking.

Note that this library is compatible only with:

• BT.CPP 4.1 or newer.
• ROS2 Humble or newer.

Additionally, check plugins.hpp to see how to learn how to wrap your Nodes into plugins that can be loaded at run-time.

Acknowledgements

A lot of code is either inspired or copied from Nav2.

To this reason we retain the same license and copyright.