Behavior Trees Skill

Overview

Expert skill for designing and implementing behavior trees for robot decision making, task sequencing, and reactive behaviors.

Capabilities

• Design behavior trees for complex robot behaviors
• Configure BehaviorTree.CPP nodes and trees
• Implement custom action, condition, and decorator nodes
• Set up blackboard for state sharing
• Configure subtrees and tree switching
• Implement reactive behaviors and fallbacks
• Debug behavior tree execution with Groot
• Set up behavior tree logging and analysis
• Configure timeout and recovery behaviors
• Implement parallel and sequence nodes

Target Processes

• nav2-navigation-setup.js
• autonomous-exploration.js
• multi-robot-coordination.js
• hri-interface.js

Dependencies

• BehaviorTree.CPP
• Groot
• nav2_behavior_tree

Usage Context

This skill is invoked when processes require complex decision-making logic, task sequencing, or reactive robot behaviors.

Output Artifacts

• Behavior tree XML definitions
• Custom BT node implementations
• Blackboard configurations
• Groot visualization setups
• Recovery behavior designs
• BT logging configurations