BT_Sample PKG

Table of Contents

• BT_Sample PKG
  • Table of Contents
  • Behavior Tree Setup
    • Install Groot 2
    • Launch Groot 2
    • Install BehaviorTree.CPP (Optional)
  • Build Behavior Tree Sample PKG
  • Run Behavior Tree Sample PKG
    • Groot2 Launch
    • Behavior Tree Sample PKG Launch

Behavior Tree Setup

Install Groot 2

.run 파일을 설치 후 권한을 부여 후 실행

wget https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-linux-installer.run
chmod +x Groot2-v1.5.2-linux-installer.run 
./Groot2-v1.5.2-linux-installer.run

Launch Groot 2

cd ~/Groot2/bin
./groot2

다음 명령어를 통해 groot 로 단축키를 만들어 사용할 수 있습니다.

echo "alias groot='cd ~/Groot2/bin ; ./groot2'" >> ~/.bashrc

Install BehaviorTree.CPP (Optional)

전역적으로 사용할 수 있도록 설치합니다.

cd ~/ros2_ws/src
git clone https://github.com/BehaviorTree/BehaviorTree.CPP
sudo apt install libzmq3-dev libboost-dev qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev
cd ~/ros2_ws/src/BehaviorTree.CPP
mkdir build && cd build
cmake ..
sudo make -j8 install

Build Behavior Tree Sample PKG

cd ~/ros2_ws/src
git clone https://github.com/AuTURBO/bt_template.git
cd ~/ros2_ws 
colcon build

Run Behavior Tree Sample PKG

Groot2 Launch

~/Groot2/bin/groot2

Behavior Tree Sample PKG Launch

source ~/ros2_ws/install/local_setup.bash
ros2 run bt_sample bt_node