PyTrees for ROS

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

Getting Started (ROS 2)

Choose your ROS distro and install via debians, e.g., for Jazzy:

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

Dive into the PyTrees Docs for a basic primer (non-ROS) on behaviour trees, then move on to the PyTrees ROS Tutorials which incrementally build a scenario for a robot. The PyTrees 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.

ROS 2	Rolling	Jazzy	Humble
py_trees
py_trees_ros_interfaces
py_trees_ros
py_trees_ros_tutorials
py_trees_js
py_trees_ros_viewer

Getting Started (ROS 1)

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

ROS 1	Noetic
py_trees
py_trees_msgs
py_trees_ros
rqt_py_trees