Behavior Trees Skill - Behavior Tree Design and Implementation for Robot Decision Making
Design and implement behavior trees for robot decision making and task sequencing
Tags
Updated: 2026-02-12Capabilities
Typical Inputs
Typical Outputs
What this skill does
- Design behavior trees
- Configure BehaviorTree.CPP nodes
- Implement custom action nodes
- Set up blackboard for state sharing
- Configure subtrees and tree switching
- Implement reactive behaviors
- Debug with Groot
- Set up behavior tree logging
- Configure timeout behaviors
- Implement parallel nodes
Inputs
- BehaviorTree.CPP
- Groot
- nav2_behavior_tree
- Robot decision requirements
- Task sequencing logic
Outputs
- Behavior tree XML definitions
- Custom BT node implementations
- Blackboard configurations
- Groot visualization setups
- Recovery behavior designs
Requirements
- BehaviorTree.CPP library
- Groot visualization tool
- nav2_behavior_tree package
- Bash tool access
- Read/Write/Edit file permissions