BehaviorTree.MTC

This project is still in an early development phase.

This project is compatible with version 4.X of BehaviorTree.CPP.

It is recommanded that the Moveit Task Constructor library commit version >= fdc06c3. This is to ensure that one can preempt a plan gracefully.

Demo

Check the available examples.

Running the Pick and Place MTC demo using BT's:

# In one terminal
$ roslaunch behaviortree_mtc demo.launch
# ALTERNATE: Use the one supplied with MTC
#            Don't forget to change the task solution topic

# In another terminal
$ rosrun behaviortree_mtc bt_pick_place


# OPTIONAL: Connect from Groot2 to visualize the BT's on port 1667
$ rosrun behaviortree_mtc bt_pick_place _delay_ms:=5000

Roadmap

We plan to release version 1.0.0 by the end of Christmas 2024. Check the roadmap for more details.