DelibFlow

Note

This is an experimental, work-in-progress repository. Things may change, break, or get better very quickly. You have been warned (and welcomed)!

Welcome to DelibFlow - a behavior tree framework for the TiAGo robot, built on top of BehaviorTree.CPP, Nav2 for navigation, and Grab2 for manipulation.

The idea is simple: describe what you want the robot to do in a behavior tree XML file, launch it, and watch TiAGo go. This docs site will walk you through everything from setting up the workspace to writing your own custom behaviors.

Getting Started

• Getting Started
  • Prerequisites
  • Installation
  • First Launch

Simulation

• Simulation
  • Simulation Worlds

Walkthroughs

• Walkthroughs
  • Bringing Up the Stack
  • Pick Object Demo
  • Navigation Demo

Tutorials

• Tutorials
  • Supported ROS 2 distributions
  • Tutorials

Usage

• Usage
  • Object Detection with YOLO
  • ArUco Markers