AutoAPMS is a heavily extensible development framework for behavior-based ROS 2 applications. It provides a highly modular integration of behavior trees. In this talk, I'm explaining the core concepts while walking through the development workflow using an applied example. This should give you a good idea of whether AutoAPMS is for you or not.

The intention of this project is to make it significantly more user-friendly and less error prone to develop autonomous robotics with behavior trees. The core packages are written in C++ and a supplementary Python API exposes high-level features for scripting.

The framework relies on the popular BehaviorTree.CPP library under the hood and offers a Nav2-agnostic approach for using it within the ROS 2 ecosystem. It was inspired by BehaviorTree.ROS2 and can be considered a spiritual successor. AutoAPMS took the core ideas of the behavior tree paradigm and supercharged it with the following features:

• Convenient resource management using ament_cmake and ament_index
• Inherently extensible due to plugin-based design
• Flexible and highly configurable behavior execution engine
• Powerful C++ behavior tree builder API (a supplement to BehaviorTree.CPP)
• High-level node manifests for registering node plugins without writing a single line of code
• Support for custom behavior definitions and tree builder algorithms
• ros2 behavior command extending the ROS 2 CLI