ros2-Behavior Trees(18)

Behavior Trees versus Hierarchical State Machines

Programming with Behavior Trees and ROS

安装行为树的环境

一、sudo apt-get install graphviz-dev libgraphviz-dev python-pygraph python-pygraphviz gv

二、cd ~/catkin_ws/src

git clone https://github.com/pirobot/pi_trees.git

cd ~/catkin_ws

catkin_make

rospack profile

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A Patrol Bot example using behavior trees

一、roslaunch rbx2_tasks fake_turtlebot.launch

二、rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

三、rosrun rbx2_tasks patrol_tree.py

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A housing cleaning robot using behavior trees

一、roslaunch rbx2_tasks fake_turtlebot.launch

二、rosrun rviz rviz -d `rospack find rbx2_tasks`/nav_tasks.rviz

三、rosrun rbx2_tasks clean_house_tree.py