[ros-users] [Discourse.ros.org] [General] New Software Release - Py Trees

Davide Faconti ros.discourse at gmail.com
Wed Jul 5 07:58:57 UTC 2017

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.


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.

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