Open source

.github/workflows/ci.yml

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+name: C++ CI
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    container: 
+      image: ros:noetic-ros-base
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Setup Environment
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y cmake g++ ninja-build 
+
+    - name: Configure and Build
+      run: |
+        ./opt/ros/noetic/setup.sh
+        mkdir build
+        cd build
+        cmake -DBUILD_TESTS=ON -DCATKIN_BUILD_BINARY_PACKAGE=OFF ..
+        cmake --build . -j8
+
+    - name: Run tests
+      run: |
+        cd build
+        ctest

.gitignore

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+.vscode
+__pycache__
+*.pyc
+*idea
+*dist*
+*egg-info
+devel/
+build/
+*.bag
+*.bj
+doxygen/
+*cmake-build-debug*
+*cmake-build-release*
+*cmake-build*
+
+# Folders
+BUILD/
+Debug/
+Realese/
+
+# Thirdparty folders which are
+# downloaded during build (not submodules)
+
+# Build results
+*.user
+
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# OS X specific
+*.DS_Store
+.DS_Store
+.DS_Store?
+
+install_script.zsh

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.11)
+project(behavior_tree)
+
+if(BUILD_TESTS)
+  message(STATUS "Tests building is enabled.")
+  enable_testing()
+endif()
+
+include(CMakePackageConfigHelpers)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+####################################################################
+##                   ADD ALL THE SUB-PROJECTS                     ##
+####################################################################
+
+add_subdirectory(behavior_tree)
+add_subdirectory(evo_behavior_tree)

README.md

@@ -1 +1,22 @@
-# behavior_tree
+# Behavior Tree Framework Libraries
+
+Behavior Tree is a framework for writing a control architecture for any mission
+execution system.
+
+## Provided packages
+
+1. **`evo-behavior-tree`** - behavior tree library package. No dependencies except for STL. 
+2. **`ros-melodic-evo-behavior-tree`** - ROS wrapper library for the behavior
+   tree framework. Created as a static library.
+
+> See _behavior-tree_ and _evo-behavior-tree_ folders for more information about
+> the libraries and the installation process.
+
+## License
+
+MIT
+
+## Maintainers
+
+- Evgeniy Safronov <evgeniy.safronov@evocargo.com>
+- Maksim Kulikov <maksim.kulikov@evocargo.com>

behavior_tree/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.10)
+file(STRINGS VERSION CURRENT_VERSION)
+project(behavior_tree VERSION ${CURRENT_VERSION})
+
+
+file(GLOB_RECURSE SOURCES_CPP_LIBRARY ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
+file(GLOB_RECURSE SOURCES_C_LIBRARY ${CMAKE_CURRENT_SOURCE_DIR}/src/*.c)
+
+list(APPEND SOURCES_LIBRARY ${SOURCES_C_LIBRARY})
+list(APPEND SOURCES_LIBRARY ${SOURCES_CPP_LIBRARY})
+
+add_library(${PROJECT_NAME} SHARED ${SOURCES_LIBRARY})
+
+target_include_directories(
+  ${PROJECT_NAME}
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include/evocargo>
+)
+
+####################################################################
+##                        INSTALL LIBRARY                         ##
+####################################################################
+
+string(TOUPPER ${PROJECT_NAME} COMPONENT_NAME)
+string(REPLACE "_" "" COMPONENT_NAME ${COMPONENT_NAME})
+
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT ${PROJECT_NAME}Targets
+  LIBRARY DESTINATION lib/evocargo
+          COMPONENT ${COMPONENT_NAME}
+  RUNTIME DESTINATION bin
+          COMPONENT ${COMPONENT_NAME}
+)
+
+install(
+  DIRECTORY include/${PROJECT_NAME}
+  DESTINATION include/evocargo
+  COMPONENT ${COMPONENT_NAME}
+)
+
+####################################################################
+##                CREATE / INSTALL CMAKE CONFIGS                  ##
+####################################################################
+
+configure_package_config_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/conf/${PROJECT_NAME}Config.cmake.in
+  ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+  INSTALL_DESTINATION "lib/cmake/${PROJECT_NAME}"
+)
+
+write_basic_package_version_file(
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+install(
+  EXPORT ${PROJECT_NAME}Targets
+  FILE ${PROJECT_NAME}Targets.cmake
+  DESTINATION lib/cmake/${PROJECT_NAME}
+  COMPONENT ${COMPONENT_NAME}
+)
+
+install(
+  FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+        ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+  DESTINATION lib/cmake/${PROJECT_NAME}
+  COMPONENT ${COMPONENT_NAME}
+)
+
+####################################################################
+##                     CPACK CONFIGURATION                        ##
+####################################################################
+
+set(CPACK_GENERATOR "DEB")
+set(CPACK_DEB_COMPONENT_INSTALL ON)
+set(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+
+string(REPLACE "_" "-" DASH_PROJECT_NAME ${PROJECT_NAME})
+
+set(CPACK_PACKAGE_NAME ${DASH_PROJECT_NAME})
+set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
+
+set(CPACK_COMPONENTS_ALL ${COMPONENT_NAME})
+set(CPACK_DEBIAN_${COMPONENT_NAME}_PACKAGE_NAME ${DASH_PROJECT_NAME})
+
+set(CPACK_DEBIAN_PACKAGE_MAINTAINER
+    "Evgeniy Safronov <evgeniy.safronov@evocargo.com>"
+)
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY
+    "Behavior Tree framework."
+)
+set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+set(CPACK_RESOURCE_FILE_README ${CMAKE_CURRENT_SOURCE_DIR}/README.md)
+
+set(CPACK_OUTPUT_CONFIG_FILE
+    "${CMAKE_BINARY_DIR}/configs/${PROJECT_NAME}_Config.cmake"
+)
+
+include(CPack)
+
+####################################################################
+##                  ASSEMBLE LIBRARY WITH TESTS                   ##
+####################################################################
+
+if(BUILD_TESTS)
+  add_subdirectory(test)
+endif()

behavior_tree/README.md

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+# ROS-independent BehaviorTree library
+
+Behavior Tree framework for building mission execution systems.
+
+## Installation
+
+Before installation add Evocargo repository to system source list. Then install
+the _behavior-tree_ package:
+
+```
+sudo apt update
+sudo apt install behavior-tree
+```
+
+## Usage example
+
+Install the library and write your own wrapper on it. As an example you can look
+at the provided ROS wrapper - the evo_behavior_tree package (in the directory
+with the same name).
+
+## License
+
+Copyright (c) Evocargo LLC, all rights reserved.
+
+## Maintainers
+
+- Evgeniy Safronov <evgeniy.safronov@evocargo.com>
+- Tamash Fazli <tamash.fazli@evocargo.com>
+- Alexey Ratnikov <alexey.ratnikov@evocargo.com>

behavior_tree/VERSION

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+1.0.0

behavior_tree/conf/behavior_treeConfig.cmake.in

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+# This file exports CMake target which should be passed to the
+# target_link_libraries command.
+
+@PACKAGE_INIT@
+
+include(CMakeFindDependencyMacro)
+
+include("${CMAKE_CURRENT_LIST_DIR}/behavior_treeTargets.cmake")
+
+set (behavior_tree_FOUND 1)

behavior_tree/include/behavior_tree/behavior_tree.h

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+#pragma once
+
+#include "nodes/behavior_node.h" // Ensure correct path to the behavior node header
+#include "nodes/status.h" // Include the Status class for handling node statuses
+#include <memory>
+
+namespace evo::behavior {
+
+/**
+ * @brief Represents a behavior tree, managing the execution of a hierarchical
+ * structure of nodes that control decision making and behavior.
+ */
+class BehaviorTree {
+public:
+  /**
+   * @brief Constructs a new BehaviorTree object with a specified root node.
+   *
+   * @param root The root node of the behavior tree, where execution starts.
+   */
+  explicit BehaviorTree(BehaviorPtr root);
+
+  /**
+   * @brief Default constructor for an empty BehaviorTree, intended for delayed
+   * initialization.
+   */
+  BehaviorTree() = default;
+
+  /**
+   * @brief Sets the root node of the behavior tree.
+   *
+   * @param root The root node to set, starting point for tree execution.
+   */
+  virtual void set_root(BehaviorPtr root);
+
+  /**
+   * @brief Runs the behavior tree starting from the root node.
+   *
+   * @return Status The status of the behavior tree execution. Returns
+   * Status::Failure if no root is set.
+   */
+  Status run();
+
+  /**
+   * @brief Virtual destructor to ensure proper cleanup in derived classes.
+   */
+  virtual ~BehaviorTree() = default;
+
+private:
+  /// The root node of the behavior tree.
+  BehaviorPtr root_;
+};
+
+} // namespace evo::behavior

behavior_tree/include/behavior_tree/bt_base.h

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+#pragma once
+
+#include "behavior_tree.h"
+#include "bt_factory.h"
+#include "nodes/status.h"