hub / github.com/BehaviorTree/BehaviorTree.ROS2
github.com/BehaviorTree/BehaviorTree.ROS2 @0.3.0
Chat with this repo
130 symbols
153 edges
23 files
22 documented · 17%
● updated 7mo ago0.3.0 · 2025-10-30★ 33436 open issues
Browse by type
What it actually does AI analysis from the code graph — generated when you open this
loading…
README
BehaviorTree.ROS2
This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP together.
In particular, it provides a standard way to implement:
- Behavior Tree Executor with ROS Action interface.
- Action clients.
- Service Clients.
- Topic Subscribers.
- Topic Publishers.
Our main goals are:
- to minimize the amount of boilerplate.
- to make asynchronous Actions non-blocking.
Documentation
Note that this library is compatible only with:
- BT.CPP 4.6 or newer.
- ROS2 Humble or newer.
Additionally, check plugins.hpp to see how to learn how to wrap your Nodes into plugins that can be loaded at run-time.
Acknowledgements
A lot of code is either inspired or copied from Nav2.
For this reason, we retain the same license and copyright.
Core symbols most depended-on inside this repo
toStr
called by 4
behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
get_node_base_interface
called by 3
behaviortree_ros2/src/tree_execution_server.cpp
ConvertNodeStatus
called by 2
behaviortree_ros2/src/bt_utils.cpp
GetDirectoryPath
called by 2
behaviortree_ros2/src/bt_utils.cpp
node
called by 2
behaviortree_ros2/src/tree_execution_server.cpp
now
called by 2
behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
LoadBehaviorTrees
called by 1
behaviortree_ros2/src/bt_utils.cpp
LoadPlugin
called by 1
behaviortree_ros2/src/bt_utils.cpp
Shape
Languages
C++100%
Modules by API surface
behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp19 symbols
behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp16 symbols
behaviortree_ros2/src/tree_execution_server.cpp11 symbols
behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp11 symbols
behaviortree_ros2/include/behaviortree_ros2/tree_execution_server.hpp9 symbols
btcpp_ros2_samples/src/sleep_server.cpp7 symbols
behaviortree_ros2/include/behaviortree_ros2/bt_topic_pub_node.hpp7 symbols
btcpp_ros2_samples/src/set_bool_node.hpp6 symbols
behaviortree_ros2/src/bt_utils.cpp6 symbols
btcpp_ros2_samples/src/subscriber_test.cpp5 symbols
btcpp_ros2_samples/src/sleep_client.cpp5 symbols
btcpp_ros2_samples/src/sample_bt_executor.cpp5 symbols
For agents
$ claude mcp add BehaviorTree.ROS2 \
-- python -m otcore.mcp_server <graph>