Supporting Robotic Deliberation:
The Deliberation Working Group andTools for Behavior Trees
Christian Henkel, Bosch Research
ROSCon 2023

CC BY 2.0 Smithsonian Institution - Flickr: Grace Hopper and UNIVAC“The education of a computer” 1952
Grace Murray Hopper, Remington Rand Corp

Courtesy of the Naval Surface Warfare Center, Dahlgren, VA., 1988

14

Deliberation Working GroupDeliberation Working GroupConvince Project

Partners

convince-project.eu

Management

UI, app, fleet management,
manufacturing control, …

Deliberation

Task planning, task control,
behaviors, …

SkillsObject recognition, human tracking,
SLAM, motion planning and control,
grasping, navigation, …

Device drivers
Operating System(s)Computing Hardware
Sensors
Actuators

Real World Physics
5

Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Deliberation Working Group
Welcome Page
Goals

More information
 To participate: https://groups.google.com/g/ros-wgdeliberation
 Recordings: https://www.youtube.com/playlist?list=P
LcSZ3QEfuKf-CKfrcbtUehY4U1brNabnf
6

Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

https://bit.ly/delibwg

Deliberation Working Group
Technologies Word Cloud

7

Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

https://bit.ly/delibwg

Working GroupOur first product: Awesome Deliberation
 Our first Product is a list of robotics deliberation− Packages− Presentations− Publications

 Feel free to contribute:− https://github.com/ros-wg-delib/awesome-rosdeliberation

 Next steps− Standardization of behavior tree nodes

8Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

https://bit.ly/delibwg

Deliberation Working Group
Some Presentations
Deliberate and Act with PlanSys2, Francisco Martín
Rico, Universidad Rey Juan Carlos

AIPlan4EU and Planning with Behavior Trees,Guglielmo Gemignani, Magazino GmbH

BehaviorTree.CPP: what makes it different from otherimplementations, Davide Faconti

Integrated Task and Motion Planning with ROS 2 andPDDLStream, Sebastian Castro

Different behavior tree formalisms,
Enrico Ghiorzi, Università di Genova

Deliberation at NODE - Quirks and Features, JannikAbbenseth, NODE Robotics

9Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

2
10Tooling for Behavior TreesTooling for Behavior Trees
A toolkit for the Behavior Tree Tender

https://github.com/boschresearch/bt_tools

bt_tools
A python library and multiple tools to visualize andanalyze behavior trees created withbehaviortree.cpp

bt_live
bt_view

11btlib

Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Tooling for Behavior Trees
Offline analysis: bt_view

https://github.com/boschresearch/bt_tools

ros2 run bt_view bt_view -bt_log_fbl_fnames <path_to_fbl_log> -coverage-threshold <threshold>
12

Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Tooling for Behavior Trees
Online Visualization: bt_live

13

https://github.com/boschresearch/bt_tools

Christian Henkel | 2023-10-20© Robert Bosch GmbH 2023. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

Deliberation Working Group• Minutes and general info: https://bit.ly/delibwg• To participate: https://groups.google.com/g/ros-wgdeliberation• Recordings: https://www.youtube.com/playlist?list=PLcSZ
3QEfuKf-CKfrcbtUehY4U1brNabnf• Awesome list: https://github.com/ros-wg-delib/awesomeros-deliberation
BT Tools• Github: https://github.com/boschresearch/bt_tools

Christian Henkel
christian.henkel2@de.bosch.com | github.com/ct2034