Installation

In order to install the ROS packages forming the behavior engine, create a new folder inside your ROS workspace and clone this repository to the new folder. Next, you need to create at least one additional ROS package and most likely more. It is recommended, although not required, to create a second folder next to the folder containing the content of this repository and make it a repository on its own. This second repository will contain your project-specific behaviors code such as developed states and behaviors.

Now create a new ROS package called flexbe_behaviors and add two folders:

• behaviors: Will contain all behavior manifests in the future
• config: recommended location for storing .yaml files for configuration

The name flexbe_behaviors is the recommended default name. You can also choose your own name, but this requires you to set the ROS parameter behaviors_package accordingly.

In addition, you can create further ROS packages containing newly developed states. The naming convention for these packages is flexbe_custom_states where custom is replaced by your system identifier, e.g., the robot type or required software.

Finally, it is recommended to add a folder to your repository where you can later store all ROS packages implementing behaviors. Now, your folder structure should look similar to the following example.

flexbe_behavior_engine
    flexbe_core
    flexbe_input
    ...
    flexbe_widget
project_behaviors
    flexbe_behaviors
    flexbe_custom_states
    behaviors **
        first_behavior
        second_behavior
        ...

** Empty folder for now, but it will look like this later.

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