/flexbe_behavior_engine

Contains the behavior engine FlexBE.

Primary LanguagePythonOtherNOASSERTION

FlexBE Behavior Engine

FlexBE is a high-level behavior engine coordinating the capabilities of a robot in order to solve complex tasks. Behaviors are modeled as hierarchical state machines where states correspond to active actions and transitions describe the reaction to outcomes. Main advantage over similar approaches is the good operator integration and an intuitive user interface. Besides executing behaviors in full autonomy, the operator can restrict execution of certain transitions or trigger them manually. Furthermore, it is even supported to modify the whole structure of a behavior during its execution without restarting it. The user interface features a runtime control interface as well as a graphical editor for state machines.

Please refer to the FlexBE Homepage (flexbe.github.io) for further information, tutorials, application examples, and much more.

FlexBE CI

Installation

Execute the following commands to install FlexBE for ROS 2 systems:

cd "ros2_ws"/src
git clone https://github.com/team-vigir/flexbe_behavior_engine.git

Next, navigate to the "ros2_ws" top-level directory and build FlexBE:

colcon build

Furthermore, create your own repository for behavior development (contains examples):

ros2 run flexbe_widget create_repo [your_project_name]

Finally, it is recommended to install the FlexBE App user interface by following these steps.

Usage

Use the following launch file for running the onboard engine:

ros2 launch flexbe_onboard behavior_onboard.launch.py

Use the following launch file for running the operator control station (requires the FlexBE App):

ros2 launch flexbe_app flexbe_ocs.launch.py

Use the following launch file to run both of the above, e.g., for testing on a single computer:

ros2 launch flexbe_app flexbe_full.launch.py

For running test use: python -m unittest src/flexbe_behavior_engine/<flexbe_dir>/test/<test.py>

Next Steps

Publications

Please use the following publications for reference when using FlexBE:

Further Publications

Refer to the following publications to get an impression about ways to use FlexBE. Let us know if you know a paper which should be added to the list.

Maintainer