these packages contain example of using behavior tree to solve maze by sticking one hand with the wall and show graphical pyqt5 window for the search process
more about behavior Trees at BehaviorTreeCPP Tutorials
maze:
behavior tree: the "Is**" Nodes check and move the robot
cd maze-solve-with-behavior-tree
uv sync
colcon build
source install/setup.bash
# launch with maze_size small,big,middle
ros2 launch launcher start.launch.py maze_size:=big