Getting Started

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

NOTE

Currently we support Linux only!.

ROS 2	Build & Test
Jazzy Jalisco
Kilted Kaiju
Rolling Ridley

Run your first Behavior

The following installation guide helps you getting started with AutoAPMS.

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

   source install/setup.bash
   ros2 behavior run auto_apms_examples::demo::HelloWorld --blackboard name:=Turtle

   

Visual Demonstration

Finally, you may as well run a cool visual demonstration of what's possible with this framework.

1. Install dependencies and build package auto_apms_simulation

   # Python packages for simulation (not all are available with rosdep)
   python3 -m pip install -r src/auto-apms/auto_apms_simulation/requirements.txt
   colcon build --packages-up-to auto_apms_simulation --symlink-install

2. Run the less intelligent behavior first

   source install/setup.bash
   ros2 launch auto_apms_simulation pyrobosim_hogwarts_launch.py
   # Press Ctrl+C to quit

   The actions of each robot you've seen are executed using behavior trees. This functionality is provided by the auto_apms_behavior_tree package. However, each robot is acting independently and they are not aware of their environment. Yet.

3. Now, we want to make the robots more intelligent and allow them to dynamically adjust their behavior when they encounter other robots inside one of the hallways. This is realized by implementing fallback mechanisms introduced by the auto_apms_mission package. To achieve that, add a launch argument

   source install/setup.bash
   ros2 launch auto_apms_simulation pyrobosim_hogwarts_launch.py mission:=true
   # Press Ctrl+C to quit

   The robots dynamically decide to retreat and wait until the hallway they are about to cross is not occupied anymore. They basically monitor if a certain event occurs and initialize a corresponding sequence of action if applicable. With this, we effectively introduced automatically orchestrated reactive behaviors.