[ros-users] [Discourse.ros.org] [General] Introducting BehaviorTrees.CPP (who needs Finite State Machines anymore?)

[Michael Jeronimo]

To add to what Matt has said: We're using the BehaviorTree.CPP library for the new ROS2 Navigation2 package and are taking advantage of the new blackboard feature as well as the XML-to-BT capability that allows one to define the Behavior Tree in XML and automatically create the corresponding BT at run-time. These are the features I was looking for in a BT library for our mission execution and navigation code. I'm just starting to experiment with the Groot editor, but plan to interactively create and test BTs with our system.





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