majiayu000 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