tb3_behavior_tree

This is the ROS 2 package to control Turtlebot3 with Behavior Tree.

Supported ROS 2 distributions

Requirement

Setting up the Turtlebot3 environment.

Please refer to the following page for installation.

ROS2: Turtlebot3のGazeboシミュレーションをHumble/Noeticで動かす

sudo nano ~/.bashrc
export TURTLEBOT3_MODEL=big_wheel

Install BehaviorTree.CPP 3.8.x & Groot 1.0

Please refer to the following page for installation.

ROS2: BehaviorTreeのチュートリアルを試す

Build

cd ~/dev_ws
colcon build --packages-select tb3_behavior_tree

Usage

cd ~/BehaviorTree/Groot/build/
./Groot

cd ~/turtlebot3_ws/
. install/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_jp_world_empty.launch.py

cd ~/dev_ws/
. install/setup.bash
ros2 run tb3_behavior_tree tb3_behavior_node

License

This repository is licensed under the MIT license, see LICENSE.