Bt

Warning

This is an experimental, work-in-progress repository!

Build

mkdir -p ~/bt_ws/src
cd ~/bt_ws/src
git clone https://github.com/arab-meet/delib_flow.git
./setup_third_party_pkgs.sh
cd ~/bt_ws
colcon build --symlink-install

Start Demos

Bringup simulation, nav2 and moveit2

ros2 launch tiago_demos tiago_bringup.launch.py world:=minimal_world

You can find worlds under delib_flow/tiago_sim/worlds

Run demo

ros2 launch tiago_demos tiago_demo.launch.py tree:=pick_object_example

You can find behavior trees under delib_flow/tiago_demos/trees