<html>
<head>
<meta http-equiv="content-type" content="text/html; charset=utf-8">
</head>
<body bgcolor="#FFFFFF" text="#000000">
Hello ROS Fans,<br>
<br>
I have created a ROS package implementing behavior trees called <a
href="http://wiki.ros.org/pi_trees">pi_trees</a>. It is written
in Python and is modeled after the most excellent <a
href="http://wiki.ros.org/executive_smach">executive_smach</a>
package (though without the visualizer). The only documentation I
have so far is a <a href="http://www.pirobot.org/ros/pi_trees.pdf">PDF</a>
which was copied out of a chapter from my latest ROS book mentioned
earlier on the list.<br>
<br>
The package consists of a standalone Python module and a ROS wrapper
for connecting to ROS topics, services and actions.<br>
<br>
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.<br>
<br>
--patrick<br>
<br>
<br>
<br>
</body>
</html>