bt-control-nodes

What problem does it solve?

Provides a structured framework for designing robot task execution flows using Behavior Tree control nodes to select between Sequence, Fallback, Parallel, ReactiveFallback, ReactiveSequence, and RoundRobin.

Core Features & Use Cases

• Sequence: ticks children left-to-right, restarts on completion and handles success/failure semantics for deterministic sequencing.
• ReactiveSequence: continuously re-ticks from the first child so conditions are monitored during navigation.
• SequenceWithMemory: remembers the last RUNNING child and resumes from there, skipping completed nodes.
• Fallback: tries children until one succeeds, enabling failover strategies.
• ReactiveFallback: re-ticks from the first child each tick to prioritize higher-priority checks.
• Parallel: runs all children concurrently with configurable success and failure thresholds.
• IfThenElse: branches based on a condition to either execute a then-branch or an else-branch.
• WhileDoElse: re-evaluates condition while the do-branch runs and switches to else when the condition fails.
• Switch: multi-branch selection based on a runtime variable, with a default case.
• Choosing the Right Control Node: guidance on selecting appropriate node types for common patterns.

Quick Start

Define a small BT using Sequence and ReactiveSequence to execute conditional actions and wire it to your robot's behavior.