bt_tools

bt_tools is a collection of software for working with behavior trees (BTs) in ROS. It contains means for interpreting, visualizing and introspecting BTs.

btlib

A Library to parse behavior trees.

How to generate fbl files

To analyze past runs of a behavior tree, you need to enable the logging to fbl files. This is a feature of the BehaviorTree.CPP library but for example navigation2 does currently not support it. You can enable the support like this: https://github.com/ct2034/navigation2/commit/b019fbc49d72dd34a45128bb20d1114e9b8c2b24

bt_live

Look at the behavior tree at runtime

Usage

The tool currently requires an fbl log file, because it contains the tree definition. But it will then visualize the tree at runtime based on the messages published unter /behavior_tree_log.

ros2 run bt_live bt_live --ros-args -p fbl_file:=<path_to_fbl_log>

Then open a browser at http://localhost:8000 to see the visualization. It should look a little something like this:

bt_view

Tools to visualize and analyze past behavior tree runs.

Visualizing a `fbl` log

ros2 run bt_view bt_view --bt_log_fbl_fnames <path_to_fbl_log>

The tool will output images about

the count of calls with the suffix _count.png and
the return states with the suffix _states.png to the same folder that the fbl log is in.

For example, the _states.png file will look like this:

Calculate coverage

ros2 run bt_view bt_view --bt_log_fbl_fnames <path_to_fbl_log> --coverage-threshold <threshold>

The tool will count the percentage of nodes that have been executed in the giben fbl file(s). Iff above the threshold, it will return 0.

Contributing

Contribution Guidelines

See Contributing.

Feedback

Feedback is highly appreciated. Please open issues on new ideas, bugs, etc. here at bt_tools/issues or reach out to the maintainers.

About

Presentations

ROSCon 2023: Supporting Robotic Deliberation: The Deliberation Working Group and Tools for Behavior Trees
- Video
- Slides

Maintainers

Christian Henkel

Contributors

… are welcome at any time and will be listed here. We thank [Robert Schirmer](https://www.linkedin.com/in/robertschirmer/) for the valuable input and discussions about the design of bt_tools.

3rd Party Licenses

Currently, bt_tools does not come with any 3rd-party components/modules. Note that bt_tools highly depends on ROS 2, which largely comes under the permissive licenses Apache 2.0 and 3-clause BSD.

License

bt_tools comes under the Apache-2.0 license, see LICENSE.