You are most probably right about the fact that a single robot doesn't need a low latency, low overhead implementation. I am happy to admit that I implemented my own version because I prefer C++ over Python. To be fair, a lot of design tradeoff and complexity come from the fact that I want to create the tree at run-time, instead of compilation time, using a definition stored in a XML (could be JSON or whatever). This would be a non-issue on Python. NEVERTHELESS: 1) I have strong feelings about having a BehaviorTree core library with NO ROS dependencies. NONE at all. ROS can be used seamlessly, though. 2) Since all my Actions are written in C++, the only way to interact with Python would be through IPC, ROS services/topics, or Python/C++ wrappers. It feels more natural for ME to do everything in C++. 3) The infamous BT blackboard would be harder to use in a Python/C++ mixed environment. I am not trying to make a point here, simply to say that it feels easier for me to do everything in a single language. --- [Visit Topic](https://discourse.ros.org/t/new-software-release-py-trees/2046/8) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: