PyTrees for ROS

Behaviours, trees, and utilities that extend PyTrees for use with ROS.

Getting Started (ROS 2)

Choose your ROS distro and install via debians, e.g., for Jazzy:

$ sudo apt install \
    ros-jazzy-py-trees \
    ros-jazzy-py-trees-ros-interfaces \
    ros-jazzy-py-trees-ros \
    ros-jazzy-py-trees-ros-tutorials \
    ros-jazzy-py-trees-ros-viewer

Dive into the PyTrees Docs for a basic primer (non-ROS) on behaviour trees, then move on to the PyTrees ROS Tutorials which incrementally build a scenario for a robot. The PyTrees ROS documentation provides API docs for ROS specific trees, idioms, and behaviours respectively.

For version specific releases of the documentation, refer to the documentation links in the matrix below.

ROS 2	Rolling	Jazzy	Humble
[py_trees][py-trees-ros-index]	[][py-trees-sources-2.3.x]	[][py-trees-sources-2.3.x]	[][py-trees-sources-2.3.x]
[py_trees_ros_interfaces][py-trees-ros-interfaces-ros-index]	[][py-trees-ros-interfaces-sources-2.3.x] [![Build Status][py-trees-ros-interfaces-build-status-rolling-image]][py-trees-ros-interfaces-build-status-rolling]	[][py-trees-ros-interfaces-sources-2.3.x] [![Build Status][py-trees-ros-interfaces-build-status-jazzy-image]][py-trees-ros-interfaces-build-status-jazzy]	[][py-trees-ros-interfaces-sources-2.3.x] [![Build Status][py-trees-ros-interfaces-build-status-humble-image]][py-trees-ros-interfaces-build-status-humble]
[py_trees_ros][py-trees-ros-ros-index]	[][py-trees-ros-sources-2.3.x] [![Build Status][py-trees-ros-build-status-rolling-image]][py-trees-ros-build-status-rolling] [][py-trees-ros-docs-2.3.x]	[][py-trees-ros-sources-2.3.x] [![Build Status][py-trees-ros-build-status-jazzy-image]][py-trees-ros-build-status-jazzy] [][py-trees-ros-docs-2.3.x]	[][py-trees-ros-sources-2.3.x] [![Build Status][py-trees-ros-build-status-humble-image]][py-trees-ros-build-status-humble] [][py-trees-ros-docs-2.3.x]
[py_trees_ros_tutorials][py-trees-ros-tutorials-ros-index]	[][py-trees-ros-tutorials-sources-2.3.x] [![Build Status][py-trees-ros-tutorials-build-status-rolling-image]][py-trees-ros-tutorials-build-status-rolling] [][py-trees-ros-tutorials-docs-2.3.x]	[][py-trees-ros-tutorials-sources-2.3.x] [![Build Status][py-trees-ros-tutorials-build-status-jazzy-image]][py-trees-ros-tutorials-build-status-jazzy] [][py-trees-ros-tutorials-docs-2.3.x]	[][py-trees-ros-tutorials-sources-2.3.x] [![Build Status][py-trees-ros-tutorials-build-status-humble-image]][py-trees-ros-tutorials-build-status-humble] [][py-trees-ros-tutorials-docs-2.3.x]
[py_trees_js][py-trees-js-ros-index]	[][py-trees-js-sources-0.6.x] [![Build Status][py-trees-js-build-status-rolling-image]][py-trees-js-build-status-rolling] [][py-trees-js-docs-0.6.x]	[][py-trees-js-sources-0.6.x] [![Build Status][py-trees-js-build-status-jazzy-image]][py-trees-js-build-status-jazzy] [][py-trees-js-docs-0.6.x]	[][py-trees-js-sources-0.6.x] [![Build Status][py-trees-js-build-status-humble-image]][py-trees-js-build-status-humble] [][py-trees-js-docs-0.6.x]
[py_trees_ros_viewer][py-trees-ros-viewer-ros-index]	[][py-trees-ros-viewer-sources-0.2.x] [![Build Status][py-trees-ros-viewer-build-status-rolling-image]][py-trees-ros-viewer-build-status-rolling] [][py-trees-ros-viewer-docs-0.2.x]	[][py-trees-ros-viewer-sources-0.2.x] [![Build Status][py-trees-ros-viewer-build-status-jazzy-image]][py-trees-ros-viewer-build-status-jazzy] [][py-trees-ros-viewer-docs-0.2.x]	[][py-trees-ros-viewer-sources-0.2.x] [![Build Status][py-trees-ros-viewer-build-status-humble-image]][py-trees-ros-viewer-build-status-humble] [][py-trees-ros-viewer-docs-0.2.x]

Getting Started (ROS 1)

Refer to the documentation links in the matrix below (note: you’ll find the tutorials in the py_trees_ros documentation).

ROS 1	Noetic
[py_trees][py-trees-wiki]	[][py-trees-sources-0.7.x] [![Docs Status][py-trees-docs-noetic-image]][py-trees-docs-noetic]
[py_trees_msgs][py-trees-msgs-wiki]	[][py-trees-msgs-sources-noetic] [![Build Status][py-trees-msgs-build-status-noetic-image]][py-trees-msgs-build-status-noetic] [![Docs Status][py-trees-msgs-docs-noetic-image]][py-trees-msgs-docs-noetic]
[py_trees_ros][py-trees-ros-wiki]	[][py-trees-ros-sources-0.6.x] [![Build Status][py-trees-ros-build-status-noetic-image]][py-trees-ros-build-status-noetic] [![Docs Status][py-trees-ros-docs-noetic-image]][py-trees-ros-docs-noetic]
[rqt_py_trees][rqt-py-trees-wiki]	[][rqt-py-trees-sources-noetic] [![Build Status][rqt-py-trees-build-status-noetic-image]][rqt-py-trees-build-status-noetic]

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Changelog

2.3.0 (2025-01-11)

• [behaviours] Implement Behaviors to Interact with ROS Services (#215)
• [behaviours] Support setting subscription callback_group (#220)
• [behaviours] Add keyword arguments to setup
• [vscode] gl capabilities in the devcontainer
• [readme] py-trees-js status for rolling, humble
• [readme] deb install instructions for ros2
• [readme] py-trees-ros build status for rolling, humble
• Contributors: Amal Nanavati, Daniel Stonier, Hervé Audren, fred-labs

2.2.2 (2023-02-10)

• [pkg] tf2_ros -> tf2_ros_py, #204

2.2.1 (2023-02-08)

• [behaviours] eliminate more arg name defaults, #201

2.2.0 (2023-02-08)

• [actions] pre-merge and push-ci-image actions, #200
• [tests] bugfix explicit args and time float errors in tests, #200
• [watchers] handle explicit args and memory details, #196
• [watchers] bugfix blackboard watcher shutdownon humble, #194
• [code] refactor for explicit arguments, #191
• [trees] optional node and node name args to setup, #188
• [trees] switch deprecating qos policy for shorter versions, #187

2.1.1 (2021-05-09)

• [trees] publish with/without memory information (supports new selector/sequence modes)

2.1.0 (2020-08-02)

• [infra] update for api changes in py_trees 2.1.0 (Chooser no longer supported)
• [infra] update for api changes in ros2 foxy (not breaking changes)

2.0.11 (2020-03-23)

• [blackboards] log a one-shot warning instead of exceptions when pickle fails, #156

2.0.10 (2020-03-06)

• [mock] server bugfixed to accommodate custom result handlers, #154

2.0.9 (2020-03-05)

• [behaviours] default to periodic checks with warnings for action client timeouts, #153

2.0.8 (2020-03-04)

• [behaviours] wait_for_server_timeout_sec in action clients, #152
• [trees] avoid irregular snapshot streams by avoiding timing jitter, #151

2.0.7 (2020-02-10)

• [programs] graph discovery timeouts 1.0->2.0s, #149

2.0.6 (2020-02-06)

• [behaviours] action client goals from blackboard behaviour, #148
• [behaviours] publish from blackboard behaviour, #146

2.0.5 (2020-01-24)

• [serialisation] include parallel policy details

2.0.4 (2019-12-30)

• [blackboard] bugfix protection against activity stream not activitated for views, #140
• [trees] bugfix toggle for activity client on reconfigure,

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