Getting Started

Start leveraging the advantages of Behavior Trees 🌳 fully integrated with ROS 2 🤖.

NOTE

Currently we support Linux only!.

Installation

Using deb packages

You may install the corresponding debian packages from ROS 2's apt repository:

Core API

sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree-core

Standard Nodes & Behavior Executor

sudo apt install ros-$ROS_DISTRO-auto-apms-behavior-tree

CLI Tooling

sudo apt install ros-$ROS_DISTRO-auto-apms-ros2behavior

Examples

sudo apt install ros-$ROS_DISTRO-auto-apms-examples

Build from Source

As an alternative approach, you can also build from source:

1. Create a ROS 2 workspace and clone this repository

   mkdir ros2_ws && cd ros2_ws
   (mkdir src && cd src && git clone https://github.com/AutoAPMS/auto-apms.git)

2. Install all required dependencies. We assume that you already installed ROS 2 on your system

   rosdep init  # Skip this if rosdep has already been initialized
   rosdep update
   rosdep install --from-paths src --ignore-src -y

3. Build and install all packages required for auto_apms_examples

   colcon build --packages-up-to auto_apms_examples --symlink-install

4. Source the workspace to update your environment

   source install/setup.bash

Run your first Behavior

Run your first behavior using ros2 behavior (recommended). This is an extension of the ROS 2 CLI introduced by the auto_apms_ros2behavior package

ros2 behavior run auto_apms_examples::demo::HelloWorld --blackboard name:=Turtle

Visual Demonstration

We provide a guide for running a cool visual demonstration on complex behaviors created with AutoAPMS in the auto_apms_simulation repository. The simulation shows multiple "robots" moving in a magical hall adjusting their behavior dynamically according to the following policy: Approach the goal as long as the hallway is not occupied - if it is, retreat. Piertotum Locomotor!