[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

	Devel	1.2.x	0.6.x	0.5.x
Sources
Compatibility
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Documentation

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.