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behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged behaviour at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

behaviour package from wato_monorepo repo

ackermann_pure_pursuit action_bringup freeroam_planner global_planning lattice_planning lattice_planning_markers lattice_planning_msgs model_predictive_control mpc_controller osqp_eigen_vendor trajectory_planner wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_imu_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing lidar_aggregator oscc_interfacing oscc_mux pid_control pid_msgs roscco_msg sensor_interfacing topic_healthchecker attribute_assigner depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils spatial_association bytetrack_cpp_vendor track_viz_2d tracking traffic_light_detection carla_bringup carla_common carla_control carla_lifecycle carla_localization carla_msgs carla_perception carla_pygame carla_ros_bridge carla_sample_description carla_scenarios carla_teleop simulation_bringup wato_test behaviortree_ros2_vendor behaviour behaviour_markers behaviour_msgs costmap costmap_markers costmap_msgs eidos eidos_msgs eidos_tools eidos_transform lanelet_markers lanelet_msgs lidar_localization prediction world_model world_model_markers world_model_msgs world_modeling_bringup

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Package Summary

Version 0.0.0
License Apache 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-04-03
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

ROS2 Package for Behaviour Module

Maintainers

  • WATonomous

Authors

No additional authors.
src/world_modeling/behaviour/behaviour/README.md

Behaviour

Behavior tree for Eve’s decision making using BehaviorTree.CPP and ros wrappers from BehaviorTree.ROS2.

Overview

The three main behaviours the behaviour tree currently handles are:

  • Reaching goal point (ensure global route, ensure car at goal)
  • Lane navigation (following route, safe lane changes)
  • Intersection (traffic light, stop sign, yield)

Parameters

There is more comments and info under /config/param.yaml

Parameter Type Default Description
bt_tree_file string main_tree.xml Behavior tree XML file to load
rate_hz double 10.0 Tree tick frequency
map_frame string map Map frame ID
base_frame string base_link Robot base frame ID
traffic_light_state_hypothesis_index size_t 1 Hypothesis index for traffic light state
world_objects_hypothesis_index size_t 0 Hypothesis index for object classification
bt.left_lane_change_areas string[] [left_lane_change_corridor] Area names for left lane change safety
bt.right_lane_change_areas string[] [right_lane_change_corridor] Area names for right lane change safety
bt.intersection_wall_of_doom_width double 5.0 Virtual wall width at stop lines (m)
bt.intersection_wall_of_doom_length double 1.0 Virtual wall length at stop lines (m)
bt.stop_sign_ego_stop_line_threshold_m double 3.0 Max ego distance from the stop line to accept the stop at a stop sign (m)
bt.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 100.0 Intersection detection lookahead (m)
bt.goal_reached_mode string lanelet Goal distance source: lanelet endpoint or raw point
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
service_timeout_ms int 6000 Global timeout for behaviour service calls (ms)
wait_for_service_timeout_ms int 60000 Max time to wait for required services during BT startup (ms)
enable_console_logging bool false Enable BT console logging

Topics

Subscribed

Topic Type Description
goal_point geometry_msgs/PointStamped Goal position
ego_odom nav_msgs/Odometry Ego pose and twist
lane_context lanelet_msgs/CurrentLaneContext Current lane information
world_objects world_model_msgs/WorldObjectArray Tracked world objects (enriched)
area_occupancy world_model_msgs/AreaOccupancyArray Occupancy status of defined areas

Published

Topic Type Description
execute_behaviour behaviour_msgs/ExecuteBehaviour.msg Sends lattice planner the message to execute the accurate behaviour and the preferred lanelets that the car should be on.
speed_behaviour behaviour_msgs/SpeedBehaviour.msg Publishes intersection speed advice and ego-relative distance to the upcoming intersection.

Services Called

Service names are set directly in the XML tree files (see DEVELOPING.md).

XML service_name Type Description
/world_modeling/get_shortest_route lanelet_msgs/GetShortestRoute Get route from ego to goal
/world_modeling/set_route lanelet_msgs/SetRoute Set the active route
/world_modeling/get_area_occupancy world_model_msgs/GetAreaOccupancy Get occupancy of defined areas
/world_modeling/get_world_objects_enriched world_model_msgs/GetWorldObjectsEnriched Get all tracked world objects (enriched)
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Services Exposed

Service Name Type Description
/world_modeling/reset_bt std_srvs/Trigger Clears costmap virtual walls, then rebuilds the BT and runtime blackboard state

Reset BT Service

The behaviour node exposes a std_srvs/Trigger service named reset_bt.

  • Under world_modeling_bringup, the behaviour node runs in the world_modeling namespace, so the default resolved service name is /world_modeling/reset_bt.
  • Under the standalone behaviour.launch.yaml, the node has no namespace, so the default resolved service name is /reset_bt.
  • If the launch file remaps reset_bt, use the remapped service name instead.

Calling this service first requests clear_walls from the costmap node. If that succeeds, it rebuilds the behaviour tree from the installed XML and replaces the in-process blackboard. Static BT configuration is re-seeded immediately; runtime entries such as goal, route, lane context, and odometry are repopulated by the next incoming subscriber callbacks.

From Terminal

ros2 service call /world_modeling/reset_bt std_srvs/srv/Trigger "{}"

Standalone launch:

ros2 service call /reset_bt std_srvs/srv/Trigger "{}"

From Foxglove

Use the Call Service panel with:

File truncated at 100 lines see the full file

CHANGELOG
No CHANGELOG found.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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