# BehaviorTree.ROS2

**Repository Path**: jay-tan/BehaviorTree.ROS2

## Basic Information

- **Project Name**: BehaviorTree.ROS2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: humble
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-11-03
- **Last Updated**: 2025-11-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# BehaviorTree.ROS2
[![Test](https://github.com/BehaviorTree/BehaviorTree.ROS2/actions/workflows/test.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.ROS2/actions/workflows/test.yml)

This repository contains useful wrappers to use ROS2 and BehaviorTree.CPP together.

In particular, it provides a standard way to implement:

- Behavior Tree Executor with ROS Action interface.
- Action clients.
- Service Clients.
- Topic Subscribers.
- Topic Publishers.

Our main goals are:

- to minimize the amount of boilerplate.
- to make asynchronous Actions non-blocking.

# Documentation

- [ROS Behavior Wrappers](behaviortree_ros2/ros_behavior_wrappers.md)
- [TreeExecutionServer](behaviortree_ros2/tree_execution_server.md)
- [Sample Behaviors](btcpp_ros2_samples/README.md)

Note that this library is compatible **only** with:

- **BT.CPP** 4.6 or newer.
- **ROS2** Humble or newer.

Additionally, check **plugins.hpp** to see how to learn how to
wrap your Nodes into plugins that can be loaded at run-time.


## Acknowledgements

A lot of code is either inspired or copied from [Nav2](https://docs.nav2.org/).

For this reason, we retain the same license and copyright.