Py Trees for ROS

Behaviours, trees and utilities that extend py_trees for use with ROS.

Getting Started (ROS2)

Choose your ros distro and install via debs, e.g. for humble

$ sudo apt install \
    ros-humble-py-trees \
    ros-humble-py-trees-ros-interfaces \
    ros-humble-py-trees-ros \
    ros-humble-py-trees-ros-tutorials \
    ros-humble-py-trees-ros-viewer

Dive into the PyTree Docs for a basic primer (non-ROS) on behaviour trees, then move on to the the PyTree ROS Tutorials which incrementally build a scenario for a robot. The PyTree ROS documentation provides api docs for ROS specific trees, idioms and behaviours respectively.

For version specific releases of the documentation, refer to the documentation links in the matrix below.

ROS2	Rolling	Humble	Foxy	Dashing
py_trees				-
py_trees_ros_interfaces				-
py_trees_ros				-
py_trees_ros_tutorials				-
py_trees_js				-
py_trees_ros_viewer				-

Getting Started (ROS1)

Refer to the documentation links in the matrix below (note: you’ll find the tutorials in the py_trees_ros documentation).

ROS1	Noetic	Melodic	Kinetic
py_trees			- -
py_trees_msgs			- -
py_trees_ros			- -
rqt_py_trees			-