GeezerVison is showing behaviortree.dev — BehaviorTree.CPP
The Industry Standard for
Robot Behaviors
BehaviorTree.CPP is the most popular, production-ready framework for building reactive, modular, and debuggable robot behaviors.
Used by some of the most popular robotics frameworks:
Nav2MoveIt
Why BehaviorTree.CPP?
Built for real-world robotics, not just demos
More scalable than State Machines
Behavior Trees enable complex behaviors with less code and more modularity, making them easier to maintain and extend, compared to traditional state machines.
Non-blocking actions and reactive behaviors as first-class citizens.
Build reusable building blocks, load custom nodes at runtime.
Separation of concerns between logic (XML) and implementation (C++).
Record, replay, and analyze state transitions for easier debugging.
The most widely used Robot Deliberation library in the ROS2 ecosystem. The main library is ROS-agnostic, but we provide seamless ROS2 integration.
Boost your productivity with Groot2
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Visual EditorDrag-and-drop interface for rapid prototyping
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Real-time MonitoringWatch your tree execute live on your robot
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Log Replay & AnalysisDebug past runs with full state reconstruction
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Breakpoints & Fault InjectionPause execution and simulate failures
