This program has implemented a domain-independent Behavior Tree model in a ROS Environment, and executes a tree for a dummy environment for trial purpose. The dummy environment is presented below:
Details can be found in: http://orca.st.usm.edu/~banerjee/papers/IROS18.pdf
To Run:
- git clone this repository
- cd path/to/the/folder
- catkin_make
- source ./devel/setup.bash
- rosrun bt_package tree_node _param:=src/bt_package/files/BT_Fig8
- If it complains about rosmaster, then in a new terminal do: roscore
(Have to give the address to the BT text relative to your position as a parameter)
Note: You can use this as a framework by providing a new file that represents a BT structure and the corresponding implementation of its environment.