[About][Status][Demos & Tutorials][Installation][PyTrees-Ros Ecosystem]
PyTrees is a python implementation of behaviour trees designed to facilitate the rapid development of medium sized decision making engines for use in fields like robotics. Brief feature list:
- Sequence, Selector, Parallel and Chooser composites
- Blackboards for data sharing
- Python generators for smarter ticking over the tree graph
- Python decorators for enabling meta behaviours
- Render trees to dot graphs or visualise with ascii graphs on stdout
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From ppa on Ubuntu/Bionic:
$ sudo apt install python3-py-trees
From pypi:
$ pip install py_trees
In a Python Virtual Environment:
$ git clone https://github.com/splintered-reality/py_trees
$ cd py_trees
$ source ./virtualenv.bash
Build your own python3 deb:
$ git clone https://github.com/splintered-reality/py_trees
$ cd py_trees
$ source ./virtualenv.bash
$ make deb
From the ROS2 ecosystem:
$ sudo apt install ros-<rosdistro>-py-trees
See the py_trees_ros README for the latest information on pytrees packages in the ROS ecosystem and their status.