Ailibot入门教程-应用-行为树(Behavior Tree)

Ailibot入门教程-应用-行为树(Behavior Tree)

说明

• 介绍如何在Ailibot上应用行为树(Behavior Tree)

相关设备：

• Ailibot套件，采购地址

前提准备

• [Remote PC] 安装

$ sudo apt-get install python-dev graphviz libgraphviz-dev pkg-config
$ sudo pip install cgraph
$ sudo pip install pygraphviz
$ cd ~/ailibot_ws/src
$ git clone https://github.com/pirobot/pi_trees
$ cd ~/ailibot_ws &&  catkin_make

操作步骤

• [Remote PC] 运行roscore

$ roscore

• [Remote PC] 运行行为树例子

$ rosrun ailibot_apps Sequence.py
Creating Print Message task for Take me to your leader!
Creating counting task to 10
Behavior Tree Structure
 --> PRINT_AND_COUNT
     --> PRINT_MESSAGE
     --> COUNT_TO_10
Take 1 me 2 to 3 your 4 leader! 5 6 7 8 9 10