ROS implementation of Behavior Trees?

asked 2013-08-23 04:07:39 -0600

Pi Robot
4046 ●134 ●158 ●192 http://www.pirobot.org/

updated 2013-08-23 04:08:20 -0600

Hello,

I have run through the tutorials for both SMACH and teer. I am wondering if anyone has implemented a ROS package based on behavior trees as used in some AI game software?

Thanks!
patrick

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answered 2013-12-18 02:59:13 -0600

Victor Gonzalez-Pacheco

396 ●8 ●15 ●26 http://roboticslab.uc3...

updated 2013-12-18 20:46:49 -0600

I have just discovered this package which has its own implementation of behavior trees.

I haven't tried yet, but It might be what you are looking for.

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Excellent! Thanks for the pointer.

Pi Robot ( 2013-12-18 03:12:19 -0600 )edit

Recently did my own searching, and also came across https://github.com/almc/behavior_trees as an implementation from this paper: http://www.csc.kth.se/~almc/pdf/unifi...

mrjogo ( 2016-06-07 11:45:33 -0600 )edit

I actually found a stable behavior tree implementation here: https://github.com/miccol/ROS-Behavio... . I first started first using the almc implementation, but the miccol one has the concept of "halt" that allows an action to be preempted.