[ros-users] Behavior trees ROS package available

Patrick Goebel patrick at pirobot.org
Thu Jul 31 23:41:40 UTC 2014

Hello ROS Fans,

I have created a ROS package implementing behavior trees called pi_trees 
<http://wiki.ros.org/pi_trees>.  It is written in Python and is modeled 
after the most excellent executive_smach 
<http://wiki.ros.org/executive_smach> package (though without the 
visualizer).  The only documentation I have so far is a PDF 
<http://www.pirobot.org/ros/pi_trees.pdf> which was copied out of a 
chapter from my latest ROS book mentioned earlier on the list.

The package consists of a standalone Python module and a ROS wrapper for 
connecting to ROS topics, services and actions.

Hopefully someone will find the package useful.  And if anyone can find 
problems with the code or a better way of doing things, I'd love to hear it.


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