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Behavior Tree CPP implemetation for ROS projects

asked 2022-06-22 00:06:31 -0600

Kevin1719
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I have been using behavior_tree_cpp for my robot for a while. Currently, I'm using a main file to load a BT.xml file, and other files which declared all the nodes. But the tree will be easily crashed if one component is falure. So I'm reading the nav2_navigation source code: github. This project splits the tree into smaller trees and call them at specific times.

Can someone summarize the configuration for behavior tree implementation in nav2_navigation, or may be another efficient way to build the tree? Thanks.

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Asked: 2022-06-22 00:06:31 -0600

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Last updated: Jun 22 '22

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Behavior Tree CPP implemetation for ROS projects