Zephyr Behaviour Tree

This repository is the Zephyr Behaviour Tree module.

Preparation

The first step is prepare the development machine. The developer must follow the steps at Zephyr RTOS getting started. The recommendation is test using the native_posix board. In this case, the last step from procedure should try using this command:

cd ~/zephyrproject/zephyr

west build -b native_posix samples/hello_world -t run

The second step is add your credentials to github. This will add necessary permissions to clone using ssh and send changes. The github documentation can be accessed at Connecting to GitHub with SSH.

How to clone

First, create your root directory, for instance:

mkdir $HOME/zephyrbt

cd $HOME/zephyrbt

The next step is create a python virtual environment with the west tool:

python3 -m venv .venv

source .venv/bin/activate

pip install west

Then, initialize zephyrbt root folder:

west init -m git@github.com:ossystems/zephyrbt

west update

Make sure that all requirements are meet:

pip install -r deps/zephyr/scripts/requirements.txt

pip install -r zephyrbt/scripts/requirements.txt

Examples

• The Tutorial guide you step by step on ZephyrBT (comming soon).
• The Minimal is an example how to use the ZephyrBT without any IDE.
• The Dynamic uses their own thread and generate data and stubs from Groot2 IDE.

Tests

To execute the tests just run twister pointing the TESTSUITE_ROOT to your $HOME/zephyrbt folder.

west twister -T zephyrbt