imetro_behavior

Python-based robotics behavior stack for iMETRO.

This package provides a library of reusable behavior tree nodes for ROS 2 based robotic systems, built on top of py_trees.

Modules

  • apriltag_behaviors — Behaviors to detect AprilTags
  • basic_behaviors — General-purpose behaviors (e.g., WaitForDuration)
  • color_behaviors — Behaviors to detect colored objects in images
  • control_behaviors — Controller management, gripper commands, etc.
  • decorators — Conditional decorators for behavior tree flow control
  • executor — Behavior tree executor and lifecycle management
  • geometry_behaviors — Pose creation, transforms, and TF operations
  • joint_behaviors — Utilities to load joint states from files
  • mockup_behaviors — Behaviors to interact with mockup state managers in ROS
  • moveit_behaviors — Motion planning and trajectory execution via MoveIt
  • mujoco_behaviors — Utilities for interacting with mujoco_ros2_control
  • nav_behaviors — Navigation behaviors using Nav2
  • ros_behaviors — Base classes for ROS action and service clients
 1"""
 2Python-based robotics behavior stack for iMETRO.
 3
 4This package provides a library of reusable behavior tree nodes for
 5ROS 2 based robotic systems, built on top of [py_trees](https://py-trees.readthedocs.io/).
 6
 7## Modules
 8
 9- **apriltag_behaviors** — Behaviors to detect AprilTags
10- **basic_behaviors** — General-purpose behaviors (e.g., `WaitForDuration`)
11- **color_behaviors** — Behaviors to detect colored objects in images
12- **control_behaviors** — Controller management, gripper commands, etc.
13- **decorators** — Conditional decorators for behavior tree flow control
14- **executor** — Behavior tree executor and lifecycle management
15- **geometry_behaviors** — Pose creation, transforms, and TF operations
16- **joint_behaviors** — Utilities to load joint states from files
17- **mockup_behaviors** — Behaviors to interact with mockup state managers in ROS
18- **moveit_behaviors** — Motion planning and trajectory execution via MoveIt
19- **mujoco_behaviors** — Utilities for interacting with mujoco_ros2_control
20- **nav_behaviors** — Navigation behaviors using Nav2
21- **ros_behaviors** — Base classes for ROS action and service clients
22"""