2023RobotCode
BehaviorTree.CPP
| 2023RobotCode | BehaviorTree.CPP | |
|---|---|---|
| 1 | 4 | |
| 0 | 2,748 | |
| - | 4.5% | |
| 6.3 | 9.3 | |
| 6 months ago | 10 days ago | |
| C | C++ | |
| GNU General Public License v3.0 or later | MIT License |
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2023RobotCode
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Coroutines make robot code easy for high schoolers
In practice we actually do; I had to simplify for the article. We have a few utilities like a `runUntilDone` that make simple sequences easier to write. Example: https://github.com/frc-2175/2023RobotCode/blob/main/src/lua/...
I suppose we could make more utilities for running coroutines "in parallel", but I haven't really felt the need. At that point we usually have to worry about exit conditions and it feels natural to just write a loop.
BehaviorTree.CPP
- Coroutines make robot code easy for high schoolers
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ROS2 task/schedule/statemachine discussion
Have a look at Behavior Trees, especially the BehaviorTreeCpp library https://www.behaviortree.dev The method is simple to understand, scales better than State Machines and if you implement the actions well they’re inherently modular. Nav2 uses them, and also BostonDynamics in their Spot SDK.
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Facts about State Machines
Unrelated to javascript, but in the robotics industry there is a trend towards Behaviour Trees. https://www.behaviortree.dev/ is a C++ library that was originally designed for controlling robots via ROS, but it appears to be decoupled from the ROS ecosystem so it could be used for other projects.
There is a basic UI available for editing the tree https://github.com/BehaviorTree/Groot
- BehaviorTree.CPP: C++ behavior tree library, batteries included
What are some alternatives?
blech - Blech is a language for developing reactive, real-time critical embedded software.
ros2_control_demos - This repository aims at providing examples to illustrate ros2_control and ros2_controllers
ceu-arduino - Arduino binding for Céu
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
dceu
ardupilot - ArduPlane, ArduCopter, ArduRover, ArduSub source
quaint-lang - An experimental statically typed procedural language with first-class resumable functions.
carla - Open-source simulator for autonomous driving research.
pros - Source code for PROS kernel: open source C/C++ development for the VEX V5 microcontroller
linorobot - Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)
preemptible-thread - How to preempt threads in user space