monkey_bt_util

ROS2 utility library for Behaviour Tree C++.

Most of the source code here are taken and modified from ros-navigation navigation2/nav2_behaviour_tree repository.

Demo

To run demo behavior tree server:

ros2 run monkey_bt_util demo_bt_server

On another terminal, execute the tree via ros2 service:

ros2 service call /execute_tree std_srvs/srv/Empty

Authors

• @LocoHao