Summary
In this chapter, we introduced the BT framework, a modern method for implementing robot autonomy. A BT offers a straightforward and efficient way to define and manage the actions and control nodes that guide a robot’s behavior. We covered the fundamental elements of the BT framework and the key concepts behind it.
We also introduced BehaviorTree.CPP
, a popular C++ library that seamlessly integrates with ROS 2. BehaviorTree.CPP
includes support for Groot, a graphical interface for creating and visualizing BTs. To illustrate the framework, we presented three examples of varying complexity, from defining the tree using XML models to integrating ROS 2 actions for executing long-term tasks.
Additionally, we highlighted how BehaviorTree.CPP
is utilized by the ROS 2 navigation stack (nav2), which will be explored further in the next chapter. The upcoming chapter will delve into how to enable robots with navigation capabilities.