Kotakku / micro_behaviortree_cpp

A lightweight and resource-optimized version of the BehaviorTree.CPP

micro_behaviortree_cpp

A lightweight and resource-optimized version of the BehaviorTree.CPP library, tailored for environments with restricted resources and where threading is not available. This streamlined version ensures efficient behavior tree execution with a reduced footprint, making it ideal for embedded systems and other constrained environments.

A tree can be created using xml files generated by Groot.

Difference between micro_behaviortree_cpp and BehaviorTree.CPP

	BehaviorTree.CPP	micro_behaviortree_cpp
Node type	ActionNode ConditionNode ControlNode DecoratorNode SubTree	ActionNode ConditionNode ControlNode DecoratorNode SubTree
Blackboard	Use separate blackboards for each tier, upper tier blackboards can be shared by configuration	Use one blackboard for the entire BehaviorTree
Port type	InputPort OutputPort BidirectionalPort	No distinction is made for port input/output direction.
Port declaration	Define and give the providedPorts() function	Not defined in class
Behavior for ineligible trees	throw an exception	return NodeStatus::FAILURE

Default node

Action node

• AlwaysFailure
• AlwaysSuccess
• SetBlackboard

Control node

• Fallback
• IfThenElse
• Parallel
• ReactiveFallback
• ReactiveSequence
• Sequence
• SequenceStar
• Switch2
• Switch3
• Switch4
• Switch5
• Switch6
• WhileDoElse

Decorator node

• BlackboardCheckBool
• BlackboardCheckInt
• BlackboardCheckDouble
• BlackboardCheckString
• ForceFailure
• ForceSuccess
• Inverter
• KeepRunningUntilFailure
• Repeat
• RetryUntilSuccessful

Default nodes not included in micro_behaviortree_cpp

• ManualSelector
• Delay
• Timeout

Build size reduction

The following macros can be defined to limit functionality and reduce build size.

MBT_DONT_USE_XML macro

Disable building behavior trees in XML

MBT_DONT_USE_DYNAMIC_CONSTRUCTION macro

Disable building behavior trees with dynamic types
If you enable this macro MBT_DONT_USE_XML will also be enabled