Module #8: Behaviour Trees

This Module is yet to be added

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Module # 5 Overview :

• package : behavior_trees
• Understand behaviour trees application with ros2
  • Go to goal of turltesim
  • Backports
  • Callbacks

Dependencies

• Ubuntu 22.04 LTS
• Vscode
• ROS2 Humble
• Behaviour Tree Library - other location than workspace , also follow installation step in lecture

  https://github.com/BehaviorTree/BehaviorTree.CPP
  

• Groot2

Running Project

• Create you own workspace ( if not done already )

  mkdir -p ~/ros2_my_ws/src
  cd ~/ros2_my_ws/src
  

• Clone repository ( if not done already )

  https://github.com/Robotisim/robotics_software_engineer.git
  

• Install dependencies

  cd ~/ros2_my_ws/src/robotics_software_engineer
  vcs import < dependencies.repos
  cd ~/ros2_my_ws/
  rosdep install --from-paths src --ignore-src -r -y
  

• Build your workspace

  cd ~/ros2_my_ws/
  colcon build && source ~/ros2_my_ws/install/setup.bash
  

• Run turtlesim node and behaviour tree for Go to goal behaviour

   ros2 launch  behavior_trees gtg_bt.launch.py