Py Trees
Status
| Devel | 0.8.x | 0.6.x | 0.5.x |
|---|---|---|---|
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About
This is a python3 implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics. Brief feature list:
- Sequence, Selector, Parallel and Chooser composites
- Blackboards for data sharing
- Python generators for smarter ticking over the tree graph
- Python decorators for enabling meta behaviours
- Render trees to dot graphs or visualise with ascii graphs on stdout
Note: Official python2 support was dropped in the 0.6.x releases although it may 'just work'.
Installation
From ppa on Ubuntu/Bionic:
$ sudo apt install python3-py-trees
From pypi:
$ pip install py_trees
From the ROS2 ecosystem:
$ sudo apt install ros-<rosdistro>-py-trees
In a Python Virtual Environment:
$ git clone https://github.com/stonier/py_trees
$ cd py_trees
$ source ./virtualenv.bash
Build your own python3 deb:
$ git clone https://github.com/stonier/py_trees
$ cd py_trees
$ source ./virtualenv.bash
$ make deb
Demos and Tutorials
API, guides and demo instructions can be found in the sphinx generated documetnation on Read-The-Docs (devel, 0.8.x, 0.6.x)!
PyTrees in ROS
This repository is python-only, however additional modules & documentation are available for using py_trees with ROS that provide ROS-specific behaviours, logging, tools and visualisations in ROS.
| ROS2/Bouncy | ROS1/Melodic | ROS1/Kinetic | |
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| py_trees | |
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| py_trees-msgs | - |  |
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| py_trees-ros | - | |
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| rqt_py_trees | - | |
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