Repository: ros-wg-delib/awesome-ros-deliberation
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├── contributing.md
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================================================
FILE: contributing.md
================================================
# Contribution Guidelines
Please note that this project follows the [ROS Code of Conduct](https://osrf.github.io/code_of_conduct/). By participating in this project you agree to abide by its terms.
## Adding something to an awesome list
If you have something awesome to contribute to an awesome list, this is how you do it.
You'll need a [GitHub account](https://github.com/join)!
1. Access the awesome list's GitHub page. For example: [https://github.com/sindresorhus/awesome](https://github.com/sindresorhus/awesome)
2. Click on the `readme.md` file: 
3. Now click on the edit icon. 
4. You can start editing the text of the file in the in-browser editor. Make sure you follow guidelines above. You can use [GitHub Flavored Markdown](https://help.github.com/articles/github-flavored-markdown/). 
5. Say why you're proposing the changes, and then click on "Propose file change". 
6. Submit the [pull request](https://help.github.com/articles/using-pull-requests/)!
## Updating your Pull Request
Sometimes, a maintainer of an awesome list will ask you to edit your Pull Request before it is included. This is normally due to spelling errors or because your PR didn't match the awesome-* list guidelines.
Here is [a write up](https://github.com/RichardLitt/knowledge/blob/master/github/amending-a-commit-guide.md) on how to change a Pull Request, and the different ways you can do that.
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FILE: readme.md
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<!--lint disable awesome-git-repo-age-->
<!--TODO: remove after 10 June 2023-->
# Awesome Robotic Deliberation [](https://awesome.re)
[](LICENSE) [](https://github.com/ros-wg-delib/awesome-ros-deliberation/actions)
> A curated list of awesome tools, libraries and resources for deliberation in ROS 2.
Deliberation is the topmost layer in a robotics architecture sometimes also called mission or planning layer.
It aims at controlling the robots behavior towards its extended goal or function.
This includes pre-programmed state machines, automated symbolic planning as well as behavioral reaction to unforeseen situations happening at runtime.
For an introduction to robot deliberation, refer to [Ingrand and Ghallab (2017)](https://hal.science/hal-01137921).
## Contents
- [Software Packages](#software-packages)
- [Presentations](#presentations)
- [Papers and Book Chapters](#papers-and-book-chapters)
- [Blog Posts](#blog-posts)
- [Podcasts](#podcasts)
- [Demos](#demos)
## Software Packages
### Task Planning and Execution Frameworks
- [CoSTAR Stack](http://cpaxton.github.io/costar_stack/) - A collaborative system for task automation and recognition.
- [MERLIN2](https://github.com/MERLIN2-ARCH/merlin2) - PDDL planning and execution framework, using Python and state machines.
- [MoveIt Task Constructor](https://github.com/ros-planning/moveit_task_constructor) - MoveIt add-on package that performs skeleton-based task and motion planning.
- [PlanSys2](https://github.com/PlanSys2/ros2_planning_system) - PDDL planning and execution framework, using C++ and behavior trees.
- [SkiROS2](https://github.com/RVMI/skiros2) - Skill-based platform with behavior trees, PDDL task-planning and knowledge integration.
- [UP4ROS2](https://github.com/aiplan4eu/UP4ROS2) - ROS 2 wrapper for the [AIPlan4EU Unified Planning library](https://github.com/aiplan4eu/unified-planning).
### Behavior Abstractions
- [BehaviorTree.ROS2](https://github.com/BehaviorTree/BehaviorTree.ROS2) - ROS 2 wrapper for [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP), an implementation of behavior trees in C++.
- [AutoAPMS](https://github.com/AutoAPMS) - Modular domain-agnostic framework for developing and executing behaviors with [BehaviorTree.CPP](https://github.com/BehaviorTree/BehaviorTree.CPP) integrated deeply into the ROS 2 ecosystem.
- [BT Studio](https://github.com/JdeRobot/bt-studio) - A web IDE for development of behavior trees. Uses PyTrees internally, but leverages the XML representation in BehaviorTree.CPP to define trees.
- [FlexBE](https://github.com/FlexBE/flexbe_behavior_engine) - State machine implementation with web-based GUI.
- [PyTrees ROS](https://github.com/splintered-reality/py_trees_ros) - ROS 2 wrapper for the [PyTrees](https://github.com/splintered-reality/py_trees) behavior tree library.
- [ros_bt_py](https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py) - ROS 2 and Python based library for behavior trees, with a ReactJS based web GUI.
- [SMACC2](https://github.com/robosoft-ai/SMACC2) - State machine implementation in C++.
- [YASMIN](https://github.com/uleroboticsgroup/yasmin) - State machine implementation for C++ and Python.
- [soar_ros](https://github.com/THA-Embedded-Systems-Lab/soar_ros) - ROS 2 package including the Soar cognitive architecture with logic to handle synchronization between ROS and Soar.
### Application-Specific Packages
- [MoveIt Pro](https://picknik.ai/pro/) - ROS 2 based commercial software that uses BehaviorTree.CPP and MoveIt.
- [NEXUS](https://github.com/osrf/nexus) - A ROS 2 framework for orchestrating industrial robotic lines and cells.
- [pyrobosim](https://github.com/sea-bass/pyrobosim) - ROS 2 enabled 2D mobile robot simulator for behavior prototyping.
- [rmf_task](https://github.com/open-rmf/rmf_task) - Composable task definitions and multi-robot task allocation (MRTA) planner in C++.
## Presentations
- [BehaviorTree.CPP 4.0. What is new and roadmap](https://vimeo.com/767160437) - Davide Faconti, Picknik @ ROSCon 2022 ([slides](http://download.ros.org/downloads/roscon/2022/BehaviorTree.CPP%204.0.%20What%20is%20new%20and%20roadmap.pdf)).
- [Behavior Trees for Home Service Robotics Tasks](https://www.youtube.com/watch?v=xbvMnpwXNPk) - Sebastian Castro, PickNik Robotics @ Behavior Trees in Robotics Seminar.
- [AutoAPMS: Lightweight and versatile integration of behavior trees into the ROS 2 ecosystem](https://fosdem.org/2026/schedule/event/RUE39L-auto-apms/) - Robin Müller @ FOSDEM Robotics & Simulation Devroom 2026 ([slides](https://robin-mueller.github.io/fosdem26-devtalk-autoapms/))
- [How custom tasks are defined, assigned, and executed in Open-RMF](https://vimeo.com/showcase/9954564/video/767157210) - M. Grey & Yadunund Vijay, Open Robotics @ ROSCon 2022 ([slides](http://download.ros.org/downloads/roscon/2022/How%20custom%20tasks%20are%20defined,%20assigned,%20and%20executed%20in%20Open-RMF.pdf))
- [Implementing Robot Task Planning with Learned Manipulation Skills](https://youtu.be/91igg5x-D6c?si=KHXA_p82Nh4tL6-n) - Sebastian Castro, Robotics and AI Institute @ University of Washington, 2025 ([slides](https://docs.google.com/presentation/d/1Kl0UmPAshX7hVM8dQVwCh5Ozo_86fuXKoFKbjxSl6xk/edit?usp=sharing)).
- [JdeRobot VisualStates: Visual tool for generating automata based robot behaviors](https://vimeo.com/293530044) - Okan Asik, JdeRobot @ ROSCon 2018 Lightning Talks ([repo](https://github.com/JdeRobot/VisualStates)).
- [NEXUS: A ROS 2 framework for orchestrating industrial robotic lines and cells](https://vimeo.com/879001338/fb3bcc8741) - Dejanira Araiza-Illan, Johnson & Johnson @ ROSCon 2023 ([slides](https://roscon.ros.org/2023/talks/NEXUS_A_ROS_2_framework_for_orchestrating_industrial_robotic_lines_and_cells.pdf)).
- [PackML2: State Machine Based System Programming, Monitoring and Control in ROS2](https://vimeo.com/378683073) - Dejanira Araiza-Illan, ROS-Industrial Consortium Asia Pacific @ ROSCon 2019 ([slides](https://roscon.ros.org/2019/talks/roscon2019_packml2.pdf)).
- [SMACC2, an open-source, event-driven, asynchronous, behavioral state machine library for ROS2 applications written in C++](https://vimeo.com/649655394/f9b25be7f9) - Brett Aldrich, ROBOSOFT AI @ ROSCon 2021.
- [System Modes - model-based run-time state management of large systems](https://vimeo.com/767165876) - Ralph Lange, Bosch Research @ ROSCon 2022 ([slides](http://download.ros.org/downloads/roscon/2022/System%20Modes%20-%20model-based%20run-time%20state%20management%20of%20large%20systems.pdf)).
## Papers and Book Chapters
- [CoSTAR: Instructing collaborative robots with behavior trees and vision](https://ieeexplore.ieee.org/document/7989070) - Chris Paxton et al.
- [Extended behavior trees for quick definition of flexible robotic tasks](https://ieeexplore.ieee.org/document/8206598) - Francesco Rovida et al.
- [KnowRob: A knowledge processing infrastructure for cognition-enabled robots](https://journals.sagepub.com/doi/abs/10.1177/0278364913481635) - Moritz Tenorth et al.
- [Optimized Execution of PDDL Plans using Behavior Trees](https://arxiv.org/abs/2101.01964?s=08) - Francisco Martín et al.
- [Robotic Systems Architectures and Programming in the Handbook of robotics](https://link.springer.com/book/10.1007/978-3-540-30301-5) - David Kortenkamp, Bruno Siciliano et al.
- [SkiROS—A Skill-Based Robot Control Platform on Top of ROS](https://link.springer.com/chapter/10.1007/978-3-319-54927-9_4) - Francesco Rovida et al. (SkiROS is superseded by SkiROS2)
## Blog Posts
- [Integrated Task and Motion Planning in Robotics](https://roboticseabass.com/2022/07/30/integrated-task-and-motion-planning-in-robotics/) - Sebastian Castro, 2022.
- [Introduction to Behavior Trees](https://roboticseabass.com/2021/05/08/introduction-to-behavior-trees/) - Sebastian Castro, 2021.
- [Task Planning in Robotics](https://roboticseabass.com/2022/07/19/task-planning-in-robotics/) - Sebastian Castro, 2022.
## Podcasts
- [Can One Person Make Two Powerful Tools for the Robotics Community?](https://www.sensethinkact.com/episodes/26-davide-faconti) - With Davide Faconti, author of BehaviorTree.CPP.
- [ROS Plan](https://www.theconstructsim.com/rdp-047-ros-plan-michael-cashmore/) - RDP 047 with Gerard Canal and Michael Cashmore.
- [State Machines for Complex Robot Behavior](https://www.sensethinkact.com/episodes/10-brett-aldrich) - With Brett Aldrich, author of SMACC2.
- [Towards Assured Robot Autonomy with ROS](https://www.theconstructsim.com/100-towards-assured-robot-autonomy-with-ros-with-patrick-musau/) - RDP 100 with Patrick Musau.
## Demos
- [CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision](https://www.youtube.com/watch?v=eGdwl1dmTrA) - CoSTAR demos like sanding, pick & place and robot instruction.
- [Dual-arm Piston Insertion](https://www.youtube.com/watch?v=sTM0ih6faMs) - Piston insertion with kinesthetic teaching, vision, task adaption & knowledge integration.
- [Hands-On with ROS 2 Deliberation Technologies](https://github.com/ros-wg-delib/roscon24-workshop) - Workshop presented at ROSCon 2024, organized by the ROS Deliberation Community Group.
- [Reinforcement Learning for Deliberation in ROS 2](https://github.com/ros-wg-delib/rl_deliberation) - Workshop presented at ROSCon 2025, organized by the ROS Deliberation Community Group.
- [Robot Household Marathon: EASE Generative Models of Everyday Activity](https://www.youtube.com/watch?v=pv_n9FQRoZQ&t=4s) - Setting a table with a PR2.
- [Simulation of Robot using Behavior Tree](https://www.youtube.com/watch?v=a0ve2CH245Y) - MOOD2BE, part of Robmosys.
- [TurtleBot 3 Behavior Demos](https://github.com/sea-bass/turtlebot3_behavior_demos) - Examples of behavior trees for navigation actions in C++ and Python.
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