About

ROS Py Trees extends the py_trees package with wrappers, patterns and debugging tools for use in ROS.

If you are new to behaviour trees, start with the py_trees documentation, browse through a few of the readings and try the demos contained therein.

The documentation in this package includes the module level api documentation and instructions for the command line utilities.

For a set of tutorials that walk through the construction of a behaviour tree for a typical robot application, refer to the documentation included with the py_trees_ros_tutorials package. It also demonstrates use of the py_trees visualisation software.