BehaviorTree.CPP 4.7

This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.

Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.

There are few features which make BehaviorTree.CPP unique, when compared to other implementations:

• It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.

• You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).

• Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.

• You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.

• It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.

• It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.

Documentation and Community

You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/

An automatically generated API documentation can be found here: https://BehaviorTree.github.io/BehaviorTree.CPP/

If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum

GUI Editor

Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.

If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.

How to compile

BT.CPP requires a compile that supports c++17.

Three build systems are supported:

• colcon (ament), if you use ROS2
• conan otherwise (Linux/Windows).
• straight cmake if you want to be personally responsible for dependencies :)

Compiling with conan:

Assuming that you are in the parent directory of BehaviorTree.CPP:

mkdir build_release
conan install . -of build_release -s build_type=Release
cmake -S . -B build_release -DCMAKE_TOOLCHAIN_FILE="build_release/conan_toolchain.cmake"
cmake --build build_release --parallel

If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:

mkdir build_release
cmake -S . -B build_release
cmake --build build_release --parallel

If you want to build in a pixi project (conda virtual environment).

pixi run build

If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .

Commercial support

Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.

Star History

Previous version

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Changelog for package behaviortree_cpp

4.7.3 (2025-10-01)

• remove cpp-sqlite

• update cppzmq to 4.11.0

• remove wildcards from 3rd party

• Clean up VerifyXML logic (#1000)

  • Refactor VerifyXML to clarify logic

  - Reduces duplication in VerifyXML by handling the ID check for built-in node types up front so they can then be definitively looked up in the registered nodes.

  - Enhances error messaging in VerifyXML by using either the node name or the ID, depending on which is appropriate, instead of leaving users guessing "which Decorator is wrong"

  - Fixes custom Action and Condition nodes using shorthand syntax not being properly verified

  - Fixes [<Control ID="ReactiveSequence"/>]{.title-ref} not being verified with the same logic as [<ReactiveSequence/>]{.title-ref}

  - Fixes [<Action ID="MyAction"/>]{.title-ref} not triggering a behavior lookup when [<MyAction/>]{.title-ref} would.

  • fix tests that were failing due to bad assumptions

• Append SQLite3_INCLUDE_DIRS to BTCPP_EXTRA_INCLUDE_DIRS, otherwise sqlite3.h won't be found (#1002) Co-authored-by: alejandro.suarez@omron.com <<alejandro.suarez@omron.com>>

• fix: use dynamically growing error buffer in ParseScript (#1007)

  • fix: use dynamically growing error buffer in ParseScript
  • style: format code

  * fix: use dynamically growing error buffer in ValidateScript ---------Co-authored-by: ahuo <<ahuo2865189826@gmail.com>>

• fix: validate __type field before accessing in fromJson (#1009) Co-authored-by: ahuo <<ahuo2865189826@gmail.com>>

• fix: check path attribute before using (#1005) Co-authored-by: ahuo <<ahuo2865189826@gmail.com>>

• Set current_child_idx of SequenceNode protected (#991)

• Add convertFromString<vector<bool>> (#992)

• Update README.md fix #985 Duuuude

• fix: exclude 3rd party libraries from sonar issue tracking (#984)

• change CI file

• Contributors: Alejandro Suárez, Davide Faconti, Ezra Brooks, Marcus Ebner von Eschenbach, Shaur(ya) Kumar, Vince Reda, Yiyi Wang

4.7.2 (2025-05-29)

• Fix issue

  #978

  skipped was not working properly

• Added codespell as a pre-commit hook. (#977)
• fix: Make impossible to accidentally copy JsonExporter singleton (#975)
• Contributors: Davide Faconti, Leander Stephen D'Souza, tony-p

4.7.1 (2025-05-13)

• fix ROS CI
• Add action to publish Doxygen documentation as GH Page (#972)
• Update Doxyfile
• Make BT::Any::copyInto const (#970)
• more changes related to TestNode
• Contributors: David Sobek, Davide Faconti, Marcus Ebner von Eschenbach

4.7.0 (2025-04-24)

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