This is a package for creating and saving robot behaviors using a user interface for behavior trees. This code also includes support for maintaining workspace waypoints, as well as a series of plugins for different robot capabilities. Right now these plugins are geared towards different operations of the UR5 and LBR robots.

If you find this code useful, please cite:

@article{paxton2016costar,
  title={CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision},
  author={Paxton, Chris and Hundt, Andrew and Jonathan, Felix and Guerin, Kelleher and Hager, Gregory D},
  journal={arXiv preprint arXiv:1611.06145},
  year={2016}
}

roslaunch instructor_core marlin_cameras.launch

Or:

roslaunch instructor_core dual_alvar.launch
roslaunch instructor_core semi_static.launch

Then:

roslaunch robotiq_c_model_control CModelTeleop.launch 
rosrun rqt_gui rqt_gui

Requires the costar_stack repository.