ferguson
BehaviorTree.CPP
| ferguson | BehaviorTree.CPP | |
|---|---|---|
| 1 | 4 | |
| - | 2,755 | |
| - | 2.4% | |
| - | 9.3 | |
| - | 12 days ago | |
| C++ | ||
| - | MIT License |
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ferguson
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?
pros - Source code for PROS kernel: open source C/C++ development for the VEX V5 microcontroller
ros2_control_demos - This repository aims at providing examples to illustrate ros2_control and ros2_controllers
quaint-lang - An experimental statically typed procedural language with first-class resumable functions.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
blech - Blech is a language for developing reactive, real-time critical embedded software.
ardupilot - ArduPlane, ArduCopter, ArduRover, ArduSub source
dceu
carla - Open-source simulator for autonomous driving research.
2023RobotCode
linorobot - Autonomous ground robots (2WD, 4WD, Ackermann Steering, Mecanum Drive)