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Python implementation of behaviour trees.
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stonier [behaviour/trees] adds the capability to call shutdown on each behavi…
…our (#193)

* [behaviour/trees] adds the capability to call shutdown on each behaviour

This is to enable safe destruction of machinery that needs to be
destructed (typically compliments activity in setup()).
Latest commit 82dbc3a Apr 22, 2019

README.md

Py Trees

[About][Status][Installation][Demos & Tutorials][PyTrees-Ros Ecosystem]


About

PyTrees is a python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics. Brief feature list:

  • Sequence, Selector, Parallel and Chooser composites
  • Blackboards for data sharing
  • Python generators for smarter ticking over the tree graph
  • Python decorators for enabling meta behaviours
  • Render trees to dot graphs or visualise with ascii graphs on stdout

Status

Devel 1.1.x 0.6.x 0.5.x
Sources devel 1.1.x 0.6.x 0.5.x
Compatibility Python 3.6 Python 3.6 Python 2.7 Python 2.7
Continuous Integration devel-Status 1.1.x-Status melodic-Status kinetic-Status
Documentation devel-Docs 1.1.x-Docs 0.6.x-Docs 0.5.x-Docs

Installation

From ppa on Ubuntu/Bionic:

$ sudo apt install python3-py-trees

From pypi:

$ pip install py_trees

In a Python Virtual Environment:

$ git clone https://github.com/splintered-reality/py_trees
$ cd py_trees
$ source ./virtualenv.bash

Build your own python3 deb:

$ git clone https://github.com/splintered-reality/py_trees
$ cd py_trees
$ source ./virtualenv.bash
$ make deb

From the ROS2 ecosystem:

$ sudo apt install ros-<crystal>-py-trees

Demos and Tutorials

devel 1.1.x 0.6.x

PyTrees-ROS Ecosystem

ROS2 Crystal ROS1 Melodic Kinetic
py_trees 1.1.x
Build Status
py_trees 0.6.x
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Docs Status
0.5.x
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Docs Status
py_trees_ros_interfaces 1.1.x
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py_trees_msgs 0.3.x
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Docs Status
0.3.x
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Docs Status
py_trees_ros pre-1.0.x py_trees_ros 0.5.x
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Docs Status
0.5.x
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Docs Status
py_trees_ros_tutorials 1.0.x - -
- rqt_py_trees 0.3.x
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0.3.x
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