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FKIE Behavior Trees: Wiki and Tutorials

This wiki presents a brief introduction and tutorials to Behavior Trees (BTs), a framework for task execution. The repository fkie_behavior_trees contains all required packages and code for the tutorials presented here.

Getting-Started Tutorials

  1. Introduction to behavior trees
  2. How to create a BT
  3. How to compile the BT Framework
  4. How to execute BTs in ROS
  5. How to Debug BTs

Need more Execution nodes?

  1. How to create a new BT Action or Condition node

Complex application? Existing integrations of BTs

  1. Interface to Move Base Flex
  2. Interface to MoveIt

Problems using BTs?

  1. Follow out Troubleshooting section