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Behaviour Trees on Robots

20 May 2020
Ben Talbot
A sample tree for binning items, created with rv_trees

RV Trees contains custom implementations & extensions of the behaviour trees defined in py_trees. This package gives us all of the ground-level features & functionality needed to use behaviour trees extensively in our research projects. The classes in this package are a base to help build behaviour trees for solving tasks, but in general should not be expanded or changed. See the tutorial for an example of solving a robotics task using trees.

The main contribution of this package is a structured, consistent, and flexible definition for the internals of a leaf. By defining this here, we have a common base that "automagically" handles a large majority of the challenges in passing data & linking components in a behaviour tree.

TODO add links to presentation, redo the above text

Contributors

Gavin SuddreySteven Martin

Related Links

View the code on GitHubGo to the tutorial

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