BehaviorTree.CPP
pros
| BehaviorTree.CPP | pros | |
|---|---|---|
| 4 | 1 | |
| 2,702 | 247 | |
| 2.5% | 1.2% | |
| 9.3 | 5.9 | |
| 4 days ago | 7 days ago | |
| C++ | C | |
| MIT License | GNU General Public License v3.0 or later |
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For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
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
pros
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Coroutines make robot code easy for high schoolers
Shameless plug: I work on [PROS](https://github.com/purduesigbots/pros), an open source programming environment for VEX. We've talked about adding coroutine support there, this article is an additional push for getting that done!
What are some alternatives?
ros2_control_demos - This repository aims at providing examples to illustrate ros2_control and ros2_controllers
blech - Blech is a language for developing reactive, real-time critical embedded software.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
quaint-lang - An experimental statically typed procedural language with first-class resumable functions.
ardupilot - ArduPlane, ArduCopter, ArduRover, ArduSub source
ceu-arduino - Arduino binding for Céu
carla - Open-source simulator for autonomous driving research.
2023RobotCode
linorobot - Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)
preemptible-thread - How to preempt threads in user space
mcl_3dl - A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map.
ferguson