fzi-forschungszentrum-informatik / ros2_ros_bt_py

This is a Behavior Tree library meant to be an alternative to 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!

Welcome to ros_bt_py!

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!

Documentation

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

Installation

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'.

Running

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.

Launch Options

Launch Argument	Description	Default Value
robot_namespace	Namespace to launch all ros_bt_py nodes in!	/
node_modules	List of python packages that contain nodes to be loaded on startup.	"['ros_bt_py.nodes','ros_bt_py.ros_nodes']"
enable_web_interface	Start web GUI on startup.	False
show_traceback_on_exception	Show error traceback when an exception rises.	True
diagnostics_frequency_hz	Publishing frequency for diagnostics msgs.	1.0
load_default_tree	Load the default tree on startup!	False
load_default_tree_permissive	Load the default tree in permissive mode on startup!	False
default_tree_path	Path to the default tree to load on startup!
default_tree_tick_frequency_hz	Frequency with which to tick the default tree loaded on startup!	10.0
default_tree_control_command	Command to execute per default after loading the default tree on startup!	2
web_server_port	Port to use for the web interface.	8085
web_server_address	IP address to use for the web interface. Default value uses all IP addresses of the host.	0.0.0.0

Stand-alone Web Interface

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