This repository is for simulating actions of turtlebot with behavior trees

• behaviortree_cpp
• behaviortree_ros2
• std_msgs
• action_tutorials_interfaces
• btcpp_ros2_interfaces

• To install dependencies for bt_cpp_wkshp package

  rosdep install --from-paths src/bt_cpp_wkshp -y --ignore-src

• To build the package

  colcon build --symlink-install

• To start external systems

  ros2 topic pub /prepare_item std_msgs/msg/String {}

  ros2 run btcpp_ros2_samples sleep_server

• To start simulation

  ros2 run bt_cpp_wkshp start_tree

  https://www.behaviortree.dev/groot/

• Groot monitor mode screen

• Click on button right next to Executor server for starting monitor mode when behavior tree is running

• Screen after behavior tree run is completed