Here is a collation of links to useful BehaviourTree resources I have found when trying to use BehaviourTree in one’s project.

Why?

This collation is meant to provide a straightforward manner of listing out the resources I frequently refer to when developing Behaviour Tree-driven robotic applications in ROS 2.

References

• BehaviourTree.CPP Official Documentations

Useful for reading up quickly on what BehaviourTree.CPP is all about and get started.

API Documentations

CPP

• BehaviourTree.CPP V4 API Documentations

Useful for understanding the specific CPP function calls to the BehaviourTree.CPPv4 library.

• BehaviourTree.CPP V3 API Documentations

Useful for understanding the specific CPP function calls to the BehaviourTree.CPPv3 library.

Rust

• bonsai

Useful for understanding specific Rust function calls for use of behaviour tree in rust-based applications.

Python

• py_trees

Useful for understanding specific python function calls for use of behaviour tree in ROS applications.

ROS-based Examples

• BehaviourTree.ROS2

Useful when getting behaviortree_ros2 ROS 2 package for BT-driven interaction via ROS 2 actions and services which have non-trivial implementations.

• BehaviourTree.ROS1 - v3
• BehaviourTree.ROS1 - v4

Useful when getting behaviortree_ros ROS 1 package for BT-driven interaction via ROS 1 actions and services.

White Papers

• Behavior Trees in Robotics and AI: An Introduction

Tools

• Online BT Editor