BehaviorTree.CPP

This C++ 14 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 in your application.

There are few features that 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.

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

• You can statically link your custom TreeNodes or convert them into plugins which can be loaded 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.

• Last but not least: it is well documented!

Documentation

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

To find more details about the conceptual ideas that make this implementation different from others, you can read the final deliverable of the project MOOD2Be.

Forum and Community

If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit https://discourse.behaviortree.dev/

Commercial support

Are you using BT.CPP in your commercial product and you need technical support / consulting? You can get in touch at dfaconti@aurynrobotics.com and we will happy to discuss your use case and needs.

Design principles

The main goal of this project is to create a Behavior Tree implementation that uses the principles of Model Driven Development to separate the role of the Component Developer from the Behavior Designer.

In practice, this means that:

• Custom TreeNodes must be reusable building blocks. You should be able to implement them once and reuse them to build many behaviors.

• To build a Behavior Tree out of TreeNodes, the Behavior Designer must not need to read nor modify the C++ source code of a given TreeNode.

• Complex Behaviours must be composable using Subtrees

Many of the features and, sometimes, the apparent limitations of this library, might be a consequence of this design principle.

For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important to avoid “name pollution” and allow the creation of large scale trees.

GUI Editor

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

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

Watch Groot and BehaviorTree.CPP in action

Click on the following image to see a short video of how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree.

How to compile (plain old cmake)

On Ubuntu, you are encourage to install the following dependencies:

 sudo apt-get install libzmq3-dev libboost-dev

Other dependencies are already included in the 3rdparty folder.

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Changelog for package behaviortree_cpp

3.8.2 (2023-01-05)

• rebane haltChildren to resetChildren
• revert #329
• Contributors: Davide Faconti

3.8.1 (2022-11-27)

• fix catkin installation #478
• cherry picking changes from v4
• fix #227
• fix issue #461
• fix issue #413 (Delay logic)
• Update README.md
• Contributors: Davide Faconti

3.8.0 (2022-10-11)

• tickRootWhileRunning method

• Fix: PublisherZMQ::flush is called after the publisher has been destructed (#426)

  • fix: PublisherZMQ::flush is called after the publisher has been destructed
  • style: Adjust code formatting of ~PublisherZMQ
  • chore: Install zmq-dev in ubuntu pipeline and exclude gtest_logger_zmq.cpp when zmq is not found.
  • chore: Define WIN32_LEAN_AND_MEAN to avoid ambiguity between tinyxml and msxml

• fix missing closing brace in unit test (#442)

• Fix incorrect registration of behavior trees containing faulty XML (#438)

  • fix incorrect registration of faulty trees
  • format
  • simplify XML validation
  • fix possible out-of-range exception in tests
  • Add tests
  • reduce scale of diffs
  • fix comment

  * add more test cases Co-authored-by: Davide Faconti <<davide.faconti@gmail.com>>

• Add functionality to clear registered behavior trees. (#439) Co-authored-by: Jere Liukkonen <<jere@picknik.ai>>

• Wait for the thread to finish before deleting zmq (#440) Co-authored-by: JafarAbdi <<cafer.abdi@gmail.com>>

• clang form at

• clang format

• new clang format

• Moving tinyxml2 to 3rdparty

• Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

• backporting changes from v4.x

• Update README.md

• fix warnings

• Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

• fix issue #433

• Added ros_environment dependency to make sure ROS_VERSION is initialized (#420)

• Added XML validation for decorators without children (#424)

  • Added unit tests to demonstrate failure
  • Added validation that decorators have only one child

• Update expected-lite to 0.6.2 (#418)

• fix test

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