Behavior Tree ROS Integration

Behavior trees provide the structure for execution of a finite set of tasks in a modular fashion. This project provides a ROS integration to the Behavior Tree Engine.

System Requirements

The following ROS distributions are currently supported:

• Indigo

Building & Installation

We recommend using wstool and rosdep.

# Install wstool and rosdep.
sudo apt-get update
sudo apt-get install -y python-wstool python-rosdep

# Createa a new workspace in 'catkin_ws'.
mkdir catkin_ws
cd catkin_ws
wstool init src

# Merge the task_behavior_ros.rosinstall file and download code dependancies.
wstool merge -t src https://github.com/ToyotaResearchInstitute/task_behavior_ros/raw/master/task_behavior_ros.rosinstall
wstool update -t src

# Install deb dependencies.
rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

# Build and install.
catkin_make install
source install/setup.bash

Running the demos

Now that Task Behavior Engine and Task Behavior Engine's ROS integration are insalled, we can run the examples.

# run the talker demo
rosrun task_behavior_ros talker.py