Introduction to BehaviorTree.CPP 4.6
BehaviorTree.CPP is a robust C++17 library designed to offer a framework for creating Behavior Trees. This library is specifically crafted to be flexible, user-friendly, responsive, and fast. While its primary focus is robotics, the versatility of BehaviorTree.CPP makes it ideal for developing AI in games or as a replacement for traditional Finite State Machines.
Unique Features
BehaviorTree.CPP stands out from other Behavior Tree implementations thanks to several distinctive features:
- Asynchronous Actions: It prioritizes non-blocking asynchronous Actions, treating them as first-class elements.
- Reactive Behaviors: Users can build reactive behaviors capable of executing multiple Actions concurrently, thanks to the library's support for orthogonality.
- Domain Specific Language: Trees are defined using a scripting language based on XML, allowing them to be loaded at runtime. This means that, despite being developed in C++, the structure of the Trees is not hard-coded.
- Customizable and Extensible: Users can compile their custom TreeNodes or convert them into plugins, opening up flexible runtime options.
- Dataflow: The library supplies a type-safe and adaptable mechanism to manage Dataflow between Tree Nodes.
- Logging/Profiling Infrastructure: Users benefit from a built-in infrastructure to visualize, record, replay, and analyze state transitions within the Trees.
Documentation and Community Support
Individuals interested in exploring the core concepts, accessing the API, and following tutorials can visit the official documentation site. For further assistance or to connect with other BT.CPP users, a dedicated discussion forum is available.
GUI Editor: Groot
For those who prefer a graphical user interface over manually editing XML files, Groot2 is an advanced option. It provides a visual way to create and manage Behavior Trees.
Compilation Instructions
BehaviorTree.CPP requires a compiler supporting C++17, and offers several build system options:
- catkin for ROS users
- colcon (ament) for those using ROS2
- conan for Linux and Windows environments
- CMake for users managing dependencies manually
To compile with conan, one can follow these basic steps:
mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel
Commercial Support
Businesses incorporating BT.CPP into their products might seek technical support or consulting services. The primary author, Davide Faconti, can be contacted for such needs at [email protected].
Star History
BehaviorTree.CPP also maintains a star history, showcasing its popularity and traction within the development community.
License
BehaviorTree.CPP is distributed under the MIT License, allowing free and flexible use, modification, and distribution of the software. The licensing terms ensure it's available for both personal and commercial use without significant restrictions.
BehaviorTree.CPP, as of version 4.6, exemplifies a powerful tool for developers seeking to implement Behavior Trees efficiently in their applications, from robotics to gaming AI. By providing a combination of advanced features and flexibility, it simplifies the process of creating complex behavioral logic.