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You're looking to add some coordination to your system.

See wiki/flexbe or its precursor wiki/smach to get started.

Other possibilities: py_trees_ros, pi_trees, behavior_tree and decision_making (bit old perhaps).

If you search around, you'll probably find some more alternatives, but this should get you started.

You're looking to add some coordination to your system.

See wiki/flexbe or its precursor wiki/smach to get started.

Other possibilities: py_trees_ros, (very nice), pi_trees, behavior_tree and decision_making (bit old perhaps).

If you search around, you'll probably find some more alternatives, but this should get you started.