Groot

Groot is a Graphical Editor, written in C++ and Qt, to create BehaviorTrees.

It is compliant with the the library BehaviorTree.CPP.

In the following video you can see how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree.

Does your company use BehaviorTree.CPP and Groot?

No company, institution or public/private funding is currently supporting the development of BehaviorTree.CPP and Groot. As a consequence, my time to support BehaviorTree.CPP is very limited and I decided that I won't spend any time at all supporting Groot. Pull Requests are welcome and will be reviewed, even if with some delay.

If your company use this software, consider becoming a sponsor to support bug fixing and development of new features. You can find contact details in package.xml.

Dependencies, Installation, and Usage

To compile the project you need:

CMake 3.2
Qt5 (tested with version 5.5.1), including the SVG module.

On Ubuntu Xenial or later, you can install the dependencies with:

   sudo apt install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev

Some functionalities of the code related to ROS will work only if the project is compiled with with catkin.

Compilation instructions (Linux)

   git clone https://github.com/BehaviorTree/Groot.git
   cd Groot
   git submodule update --init --recursive
   mkdir build; cd build
   cmake ..
   make

Note compiling "in-source" is not allowed.

Compilation instructions (ROS)

   mkdir -p catkin_ws/src
   cd catkin_ws/src
   git clone https://github.com/BehaviorTree/Groot.git
   cd ..
   rosdep install --from-paths src --ignore-src
   catkin_make

Shortcuts

Key	Action
CTRL-S	Save Tree
CTRL-L	Load Tree
CTRL-O	Load Tree
CTRL-Z	Undo
CTRL-Y	Redo
CTRL-SHIFT-Z	Redo
C	Center View
L	Toggle Layout
R	Reorder Nodes
N	New Node
+	Zoom In
-	Zoom Out

Licence

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Acknowledgment

This project is one of the main components of MOOD2Be, and it is developed at Eurecat by Davide Faconti.

MOOD2Be is one of the six Integrated Technical Projects (ITPs) selected from the RobMoSys first open call.

It received funding from the European Union’s Horizon 2020 Research and Innovation Programme under the RobMoSys project.

argolomb/Groot