This project is still in an early development phase.
This project is compatible with version 4.X of BehaviorTree.CPP.
It is recommanded that the Moveit Task Constructor library commit version >= fdc06c3. This is to ensure that one can preempt a plan gracefully.
Check the available examples.
Running the Pick and Place MTC demo using BT's:
# In one terminal
$ roslaunch behaviortree_mtc demo.launch
# ALTERNATE: Use the one supplied with MTC
# Don't forget to change the task solution topic
# In another terminal
$ rosrun behaviortree_mtc bt_pick_place
# OPTIONAL: Connect from Groot2 to visualize the BT's on port 1667
$ rosrun behaviortree_mtc bt_pick_place _delay_ms:=5000We plan to release version 1.0.0 by the end of Christmas 2024. Check the roadmap for more details.