AutoAPMS is a heavily extensible development framework for behavior-based ROS 2 applications. It provides a highly modular integration of behavior trees, implements a powerful execution engine and offers convenient CLI tooling for deploying behaviors with ease.

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:

• Integrated resource management using ament_cmake and ament_index
• Modular design for multi-package workspaces
• Flexible and highly configurable behavior execution engine
• Powerful C++ behavior tree builder API (a supplement to BehaviorTree.CPP for enabling automated planning)
• Easy addition of custom behavior tree nodes with almost no boilerplate code required
• Support for custom behavior definitions and tree builder algorithms
• ros2cli extension for working with the system directly from the command line
• User guide and API documentation