🤖 Streamlining Behaviors in ROS 2

AutoAPMS is a heavily extensible development framework for behavior-based applications. It integrates BehaviorTree.CPP with ROS 2, implements a powerful execution engine and offers convenient CLI tooling for deploying behaviors with ease.

The intention of this project is to make it significantly more user-friendly and less error prone to develop autonomous robotics with behavior trees. Most of the packages are written in C++, but the core functionality can also be leveraged by a Python API.

The following ROS 2 versions are supported (Linux only):

Highlights

There are plenty of ROS 2 packages which provide an implementation for behavior trees. AutoAPMS adopts the most popular one when it comes to C++ and embeds it into the ROS 2 ecosystem so that developers have a much easier time writing custom behaviors and distributing them in a ROS 2 workspace. Here are some of the most prominent features offered by this repository:

• Utilizes ament_cmake and ament_index for efficient behavior resource management

• Inherently extensible due to plugin-based design

• Flexible and highly configurable behavior execution engine

• Powerful C++ behavior tree builder API (a supplement to BehaviorTree.CPP)

• Easy integration of custom behavior tree node implementations

• Support for custom behavior definitions and tree builder algorithms

• ros2cli extensions for orchestrating the system from the command line

🚀 Getting Started

The following installation guide helps you getting started with AutoAPMS.

1. Create a ROS 2 workspace and clone this repository

    mkdir ros2_ws && cd ros2_ws
    (mkdir src && cd src && git clone https://github.com/robin-mueller/auto-apms.git)
    

1. Install all required dependencies. We assume that you already installed ROS 2 on your system

    rosdep init  # Skip this if rosdep has already been initialized
    rosdep update
    rosdep install --from-paths src --ignore-src -y
    

1. Build and install all packages required for auto_apms_examples

    colcon build --packages-up-to auto_apms_examples --symlink-install
    

1. Run your first behavior using ros2 behavior. This is an extension of the ROS 2 CLI introduced by the auto_apms_ros2behavior package

    source install/setup.bash
    ros2 behavior run auto_apms_examples::demo::HelloWorld --blackboard name:=Turtle
    

Finally, you may as well run a cool visual demonstration of what’s possible with this framework.

1. Install dependencies and build package auto_apms_simulation

    # Python packages for simulation (not all are available with rosdep)
    python3 -m pip install -r src/auto-apms/auto_apms_simulation/requirements.txt
    colcon build --packages-up-to auto_apms_simulation --symlink-install
    

1. Run the less intelligent behavior first

    source install/setup.bash
    ros2 launch auto_apms_simulation pyrobosim_hogwarts_launch.py
    # Press Ctrl+C to quit
    

The actions of each robot you've seen are executed using behavior trees. This functionality is provided by the `auto_apms_behavior_tree` package. However, each robot is acting independently and they are not aware of their environment. Yet.

1. Now, we want to make the robots more intelligent and allow them to dynamically adjust their behavior when they encounter other robots inside one of the hallways. This is realized by implementing fallback mechanisms introduced by the auto_apms_mission package. To achieve that, add a launch argument

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