Repository files navigation

ThisC++ 17 library provides a framework to create BehaviorTrees.It was designed to be flexible, easy to use, reactive and fast.

Even if our main use-case isrobotics, you can use this library to buildAI for games, or to replace Finite State Machines.

There are few features which makeBehaviorTree.CPP unique, when compared to other implementations:

• It makesasynchronous Actions, i.e. non-blocking, a first-class citizen.

• You can buildreactive behaviors that execute multiple Actions concurrently (orthogonality).

• Trees are defined using a Domain Specificscripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees isnot hard-coded.

• You can statically link your custom TreeNodes or convert them intopluginsand load them at run-time.

• It provides a type-safe and flexible mechanism to doDataflow betweenNodes of the Tree.

• It includes alogging/profiling infrastructure that allows the userto visualize, record, replay and analyze state transitions.

You can learn about the main concepts, the API and the tutorials here:https://www.behaviortree.dev/

An automatically generated API documentation can be found here:https://BehaviorTree.github.io/BehaviorTree.CPP/

If the documentation doesn't answer your questions and/or you want toconnect with the otherBT.CPP users, visitour forum

Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.

If you are looking for a more fancy graphical user interface (and I know you do) checkGroot2 out.

BT.CPP requires a compile that supports c++17.

Three build systems are supported:

• colcon (ament), if you use ROS2
• conan otherwise (Linux/Windows).
• straight cmake if you want to be personally responsible for dependencies :)

Compiling withconan:

Assuming that you are in theroot directory ofBehaviorTree.CPP:

conan install . -s build_type=Release --build=missingcmake --preset conan-releasecmake --build --preset conan-release

If you have dependencies such as ZeroMQ and SQlite already installed and you don't want touse conan, simply type:

mkdir build_releasecmake -S . -B build_releasecmake --build build_release --parallel

If you want to build in apixi project (conda virtual environment).

pixi run build

If you want to use BT.CPP in your application, please refer to theexample here:https://github.com/BehaviorTree/btcpp_sample .

Are you using BT.CPP in your commercial product and do you need technical support / consulting?You can contact the primary author,dfaconti@aurynrobotics.com, to discuss your use case and needs.

Version 3.8 of the software can be found in the branchv3.8.

That branch might receive bug fixes, but the new features will be implementedonly in the master branch.

The MIT License (MIT)

Copyright (c) 2019-2025 Davide Faconti

Copyright (c) 2018-2019 Davide Faconti, Eurecat

Copyright (c) 2014-2018 Michele Colledanchise

Permission is hereby granted, free of charge, to any person obtaining a copyof this software and associated documentation files (the "Software"), to dealin the Software without restriction, including without limitation the rightsto use, copy, modify, merge, publish, distribute, sublicense, and/or sellcopies of the Software, and to permit persons to whom the Software isfurnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in allcopies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS ORIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THEAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHERLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THESOFTWARE.