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‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.8)
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project(behaviortree_py)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(behaviortree_cpp REQUIRED)
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find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
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find_package(pybind11_vendor REQUIRED)
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find_package(pybind11 REQUIRED)
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ament_python_install_package(behaviortree_py PACKAGE_DIR behaviortree_py)
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pybind11_add_module(behaviortree_py src/behaviortree_py.cpp)
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target_compile_features(behaviortree_py PRIVATE cxx_std_20)
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target_link_libraries(behaviortree_py
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PRIVATE behaviortree_cpp::behaviortree_cpp)
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add_custom_command(
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TARGET behaviortree_py
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POST_BUILD
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COMMAND stubgen --output $<TARGET_FILE_DIR:behaviortree_py> -p behaviortree_py
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-v --verbose
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WORKING_DIRECTORY $<TARGET_FILE_DIR:behaviortree_py>
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USES_TERMINAL)
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install(TARGETS behaviortree_py
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LIBRARY DESTINATION ${PYTHON_INSTALL_DIR}/behaviortree_py)
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install(
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FILES
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$<TARGET_FILE_DIR:behaviortree_py>/$<TARGET_FILE_BASE_NAME:behaviortree_py>.pyi
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COMPONENT python
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DESTINATION ${PYTHON_INSTALL_DIR}/$<TARGET_FILE_BASE_NAME:behaviortree_py>)
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ament_package()

‎behaviortree_py/__init__.py

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from behaviortree_py.behaviortree_py import *

‎behaviortree_py/py.typed

Whitespace-only changes.

‎examples/bt_example.py

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import behaviortree_py
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import time
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xml_text = """
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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<Fallback>
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<Inverter>
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<IsDoorClosed/>
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</Inverter>
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<SubTree ID="DoorClosed"/>
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</Fallback>
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<PassThroughDoor/>
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="DoorClosed">
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<Fallback>
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<OpenDoor/>
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<RetryUntilSuccessful num_attempts="5">
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<PickLock/>
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</RetryUntilSuccessful>
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<SmashDoor/>
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</Fallback>
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</BehaviorTree>
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</root>
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"""
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class CrossDoor:
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def __init__(self):
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self.door_open = False
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self.door_locked = True
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self.pick_attempts = 0
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def register_nodes(self, factory: behaviortree_py.BehaviorTreeFactory):
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factory.register_simple_condition("IsDoorClosed", self.is_door_closed)
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factory.register_simple_action("PassThroughDoor", self.pass_through_door)
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factory.register_simple_action("OpenDoor", self.open_door)
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factory.register_simple_action("PickLock", self.pick_lock)
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factory.register_simple_action("SmashDoor", self.smash_door)
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def is_door_closed(
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self, tree_node: behaviortree_py.TreeNode
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) -> behaviortree_py.NodeStatus:
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time.sleep(0.2)
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return (
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behaviortree_py.NodeStatus.SUCCESS
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if not self.door_open
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else behaviortree_py.NodeStatus.FAILURE
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)
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def pass_through_door(
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self, tree_node: behaviortree_py.TreeNode
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) -> behaviortree_py.NodeStatus:
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time.sleep(0.5)
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return (
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behaviortree_py.NodeStatus.SUCCESS
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if self.door_open
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else behaviortree_py.NodeStatus.FAILURE
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)
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def open_door(
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self, tree_node: behaviortree_py.TreeNode
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) -> behaviortree_py.NodeStatus:
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time.sleep(0.5)
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if self.door_locked:
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return behaviortree_py.NodeStatus.FAILURE
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self.door_open = True
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return behaviortree_py.NodeStatus.SUCCESS
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def pick_lock(
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self, tree_node: behaviortree_py.TreeNode
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) -> behaviortree_py.NodeStatus:
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time.sleep(0.5)
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self.pick_attempts += 1
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if self.pick_attempts > 3:
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self.door_locked = False
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self.door_open = True
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return (
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behaviortree_py.NodeStatus.SUCCESS
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if self.door_open
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else behaviortree_py.NodeStatus.FAILURE
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)
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def smash_door(self) -> behaviortree_py.NodeStatus:
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self.door_locked = False
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self.door_open = True
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return behaviortree_py.NodeStatus.SUCCESS
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factory = behaviortree_py.BehaviorTreeFactory()
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cross_door = CrossDoor()
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cross_door.register_nodes(factory)
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factory.register_behavior_tree_from_text(xml_text)
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tree = factory.create_tree("MainTree")
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logger = behaviortree_py.StdCoutLogger(tree)
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# logger = behaviortree_py.Groot2Publisher(tree)
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print(behaviortree_py.get_tree_recursively(tree.root_node()))
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tree.tick_while_running()

‎examples/scripting.py

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import behaviortree_py as bt
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xml_text = """
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<root BTCPP_format="4">
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<BehaviorTree>
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<Sequence>
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<Script code=" msg:='hello world' " />
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<Script code=" A:=THE_ANSWER; B:=3.14; color:=RED " />
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<Precondition if="A>B && color != BLUE" else="FAILURE">
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<Sequence>
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<SetValue value="{double_value}"/>
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<SaySomething message="{A}"/>
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<SaySomething message="{B}"/>
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<SaySomething message="{msg}"/>
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<SaySomething message="{color}"/>
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<SaySomethingDouble message="{double_value}"/>
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</Sequence>
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</Precondition>
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</Sequence>
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</BehaviorTree>
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</root>
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"""
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def say_something_double(
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tree_node: bt.TreeNode,
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) -> bt.NodeStatus:
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print(tree_node.get_input_double("message"))
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return bt.NodeStatus.SUCCESS
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def say_something(tree_node: bt.TreeNode) -> bt.NodeStatus:
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print(tree_node.get_input_string("message"))
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return bt.NodeStatus.SUCCESS
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def set_value(tree_node: bt.TreeNode) -> bt.NodeStatus:
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if not (result := tree_node.set_output("value", 24.9)):
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return bt.NodeStatus.FAILURE
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return bt.NodeStatus.SUCCESS
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factory = bt.BehaviorTreeFactory()
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factory.register_simple_action(
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"SetValue", set_value, dict([bt.output_port_double("value")])
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)
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factory.register_simple_action(
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"SaySomething", say_something, dict([bt.input_port_string("message")])
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)
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factory.register_simple_action(
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"SaySomethingDouble", say_something_double, dict([bt.input_port_double("message")])
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)
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factory.register_scripting_enum("RED", 1)
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factory.register_scripting_enum("BLUE", 2)
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factory.register_scripting_enum("GREEN", 3)
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factory.register_scripting_enum("THE_ANSWER", 42)
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tree = factory.create_tree_from_text(xml_text)
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logger = bt.StdCoutLogger(tree)
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print(bt.get_tree_recursively(tree.root_node()))
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tree.tick_while_running()

‎package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>behaviortree_py</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="[email protected]">Jafar Uruc</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>behaviortree_cpp</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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