PyTrees for ROS

Behaviours, trees, and utilities that extend PyTrees for use with ROS.

Getting Started

Choose your ROS distro and install via debians, e.g., for Jazzy:

$ sudo apt install \
    ros-jazzy-py-trees \
    ros-jazzy-py-trees-ros-interfaces \
    ros-jazzy-py-trees-ros \
    ros-jazzy-py-trees-ros-tutorials \
    ros-jazzy-py-trees-ros-viewer

Dive into the PyTrees Docs for a basic primer (non-ROS) on behaviour trees, then move on to the PyTrees ROS Tutorials which incrementally build a scenario for a robot. The PyTrees ROS documentation provides API docs for ROS specific trees, idioms, and behaviours respectively.

For version specific releases of the documentation, refer to the documentation links in the matrix below.

ROS Distro	Rolling	Kilted	Jazzy	Humble
py_trees
py_trees_ros_interfaces
py_trees_ros
py_trees_ros_tutorials
py_trees_js
py_trees_ros_viewer