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behaviour package from wato_monorepo repo

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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

action_bringup behaviour_planning global_planning local_planning model_predictive_control wato_trajectory_msgs infrastructure_bringup tf_static_relay vision_msgs_markers wato_lifecycle_manager ackermann_mux camera_calib lidar_lidar_calib can_state_estimator dummy_ackermann eve_description interfacing_bringup joystick_interfacing oscc_interfacing pid_control roscco_msg sensor_interfacing camera_object_detection depth_estimation feature_extraction patchworkpp patchworkpp_vendor perception_bringup perception_utils 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 lanelet_markers lanelet_msgs lidar_localization localization prediction simple_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 Dockerized ROS2 stack for the WATonomous Autonomous Driving Software Pipeline
Checkout URI https://github.com/watonomous/wato_monorepo.git
VCS Type git
VCS Version main
Last Updated 2026-02-24
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
bt.traffic_light_state_hypothesis_index int 1 Hypothesis index for traffic light state
world_objects_hypothesis_index int 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.ego_stopped_velocity_threshold double 0.1 Velocity threshold for “stopped” (m/s)
bt.intersection_lookahead_m double 40.0 Intersection detection lookahead (m)
bt.stop_sign_stop_line_proximity_m double 5.0 Max distance from stop line for a car to be considered at the intersection (m)
bt.goal_reached_threshold_m double 1.0 Distance to goal to consider reached (m)
get_shortest_route_timeout_ms int 6000 Service timeout for get_shortest_route (ms)
set_route_timeout_ms int 6000 Service timeout for set_route (ms)
get_area_occupancy_timeout_ms int 5000 Service timeout for get_area_occupancy (ms)
get_dynamic_objects_timeout_ms int 5000 Service timeout for get_dynamic_objects (ms)
get_lanelets_by_reg_elem_timeout_ms int 5000 Service timeout for get_lanelets_by_reg_elem (ms)
wall_service_timeout_ms int 5000 Service timeout for spawn/despawn wall (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/DynamicObjectArray Tracked dynamic objects
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.
     

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_dynamic_objects world_model_msgs/GetDynamicObjects Get all tracked dynamic objects
/world_modeling/get_lanelets_by_reg_elem lanelet_msgs/GetLaneletsByRegElem Find lanelets by regulatory element
/world_modeling/spawn_wall costmap_msgs/SpawnWall Create virtual wall at stop lines
/world_modeling/despawn_wall costmap_msgs/DespawnWall Remove virtual wall

Tree Structure

The main tree (main_tree.xml) includes modular subtrees:

Subtree Description
lane_navigation.xml Lane following and lane change logic
intersection.xml Intersection detection and routing
stop_sign.xml Stop sign behavior (stop, wait, proceed)
traffic_light.xml Traffic light state handling
yield.xml Yield sign behavior

Diagrams

Root Tree

Root behaviour tree

Source: docs/root.excalidraw

Intersections

Intersection behaviour tree

Source: docs/intersections.excalidraw

Lane Navigation

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