BehaviorTree.CPP is a middleware independent framework to develop Behavior Trees in C++.
The library is not particularly opinionated about the way Actions and Conditions should be created; this gives more freedom to the developer, but can also be confusing for those people which are getting started with it.
Consequently, many people in the ROS community asked for examples and guidelines; this repository try to provide some basic examples.
Currently, two wrappers are provided:
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RosServiceNode, which can be used to call ROS Services
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RosActionNode that, similarly, is a wrapper around actionlib::SimpleActionClient.
Additionally, a ros logger is provided: