feat: add behavior tree #1177
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feat: add behavior tree #1177
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@AtsushiSakai I have completed this task and look forward to your review 😄 |
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PR Overview
This PR adds a new behavior tree example for robot mission planning along with corresponding unittests to verify the tree's sequence, selector, and error conditions.
- Added MissionPlanning/BehaviorTree/robot_behavior_case.py with several custom ActionNodes (e.g. for battery check, obstacle avoidance, and performing tasks).
- Created tests in tests/test_behavior_tree.py to validate behavior tree execution and error handling for invalid configurations.
Reviewed Changes
| File | Description |
|---|---|
| MissionPlanning/BehaviorTree/robot_behavior_case.py | Implements a sample behavior tree with custom nodes to simulate robot actions. |
| tests/test_behavior_tree.py | Provides a suite of tests for different behavior tree configurations and error cases. |
Copilot reviewed 7 out of 7 changed files in this pull request and generated no comments.
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PR Overview
This PR adds a new Behavior Tree implementation for robot mission planning, introducing various custom action nodes to simulate robot behaviors such as battery monitoring, charging, movement, obstacle detection/avoidance, and task execution.
- Implements custom action nodes in MissionPlanning/BehaviorTree/robot_behavior_case.py
- Registers nodes within a BehaviorTreeFactory to build trees from XML
- Introduces unittests in tests/test_behavior_tree.py to validate sequences, selectors, while-do-else constructs, and node child restrictions
Reviewed Changes
| File | Description |
|---|---|
| MissionPlanning/BehaviorTree/robot_behavior_case.py | Introduces several new action nodes and a function to build and execute a behavior tree from an XML file |
| tests/test_behavior_tree.py | Adds comprehensive test cases for behavior tree constructs including sequence, selector, and node child requirements |
Copilot reviewed 7 out of 7 changed files in this pull request and generated no comments.
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Reference issue
#530
What does this implement/fix?
Add Behavior Tree
Additional information
CheckList