Python implementation of behaviour trees.
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README.md

Py Trees

Status

Devel 0.8.x 0.6.x 0.5.x
devel-Sources 0.8.x-Sources 0.6.x-Sources 0.5.x-Sources
devel-Status 0.8.x-Status melodic-Status kinetic-Status
devel-Docs 0.8.x-Docs 0.6.x-Docs 0.5.x-Docs

About

This is a python3 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

Note: Official python2 support was dropped in the 0.6.x releases although it may 'just work'.

Installation

From ppa on Ubuntu/Bionic:

$ sudo apt install python3-py-trees

From pypi:

$ pip install py_trees

From the ROS2 ecosystem:

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

In a Python Virtual Environment:

$ git clone https://github.com/stonier/py_trees
$ cd py_trees
$ source ./virtualenv.bash

Build your own python3 deb:

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

Demos and Tutorials

API, guides and demo instructions can be found in the sphinx generated documetnation on Read-The-Docs (devel, 0.8.x, 0.6.x)!

PyTrees in ROS

This repository is python-only, however additional modules & documentation are available for using py_trees with ROS that provide ROS-specific behaviours, logging, tools and visualisations in ROS.

ROS2/Bouncy ROS1/Melodic ROS1/Kinetic
py_trees 0.8.x 0.6.x 0.5.x
py_trees-msgs - 0.3.x 0.3.x
py_trees-ros - 0.5.x 0.5.x
rqt_py_trees - 0.3.x 0.3.x