开源软件名称:BehaviorTree/BehaviorTree.CPP开源软件地址:https://github.com/BehaviorTree/BehaviorTree.CPP开源编程语言:C++ 98.4%开源软件介绍:BehaviorTree.CPPThis C++ 14 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast. Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines in your application. There are few features that make BehaviorTree.CPP unique, when compared to other implementations:
DocumentationYou can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/ To find more details about the conceptual ideas that make this implementation different from others, you can read the final deliverable of the project MOOD2Be. Does your company use BehaviorTree.CPP?No company, institution or public/private funding is currently supporting the development of BehaviorTree.CPP and Groot. As a consequence, my time to support BehaviorTree.CPP is very limited and I decided won't spend any time at all supporting Groot. Pull Requests are welcome and will be reviewed, even if with some delay. If your company use this software, consider becoming a sponsor to support bug fixing and development of new features. You can find contact details in package.xml. Design principlesThe main goal of this project is to create a Behavior Tree implementation that uses the principles of Model Driven Development to separate the role of the Component Developer from the Behavior Designer. In practice, this means that:
Many of the features and, sometimes, the apparent limitations of this library, might be a consequence of this design principle. For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important to avoid "name pollution" and allow the creation of large scale trees. GUI EditorEditing a BehaviorTree is as simple as editing a XML file in your favourite text editor. If you are looking for a more fancy graphical user interface (and I know you do) check Groot out. Watch Groot and BehaviorTree.CPP in actionClick on the following image to see a short video of how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree. How to compile (plain old cmake)On Ubuntu, you are encourage to install the following dependencies:
Other dependencies are already included in the 3rdparty folder. To compile and install the library, from the BehaviorTree.CPP folder, execute:
If you want to use BT.CPp in your application a typical CMakeLists.txt file will look like this: cmake_minimum_required(VERSION 3.5)
project(hello_BT)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(BehaviorTreeV3)
add_executable(${PROJECT_NAME} "hello_BT.cpp")
target_link_libraries(${PROJECT_NAME} BT::behaviortree_cpp_v3) ROS1 or ROS2 users (Catkin/Ament)You can easily install the package with the command
If you want to compile it with catkin, you must include this package to your catkin workspace. AcknowledgementThis library was initially developed at Eurecat - https://eurecat.org/en/ (main author, Davide Faconti) in a joint effort with the Italian Institute of Technology (Michele Colledanchise). This software is one of the main components of MOOD2Be, which is one of the six Integrated Technical Projects (ITPs) selected from the RobMoSys first open call. Therefore, MOOD2Be has been supported by the European Horizon2020 project RobMoSys. This software is RobMoSys conformant. Further readings
The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084 LicenseThe MIT License (MIT) Copyright (c) 2014-2018 Michele Colledanchise Copyright (c) 2018-2021 Davide Faconti Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
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