Examples
To help you get started quickly, we maintain a dedicated repository containing fully functional examples that demonstrate Forester in action across different domains.
You can find the repository here: forester-bt/examples
Implemented Examples
- Basic Simulation: Demonstrates how to set up a tree, define a profile, and run it using the built-in simulator with stubbed actions.
- ROS Nav2 Integration: A robotics orchestration example showing how to structure a tree for navigation and export it to ROS Nav2 XML.
- Webots Robot Control: Demonstrates how to use the Forester-Webots integration layer to control a simulated robot using reactive ticks.
- Remote Actions (Python & Rust): Shows how to connect external logic—such as LLM agent tools or external APIs—using the HTTP remote action clients, keeping the orchestration in Rust while executing logic in Python.
- Higher-Order Trees: Examples of passing subtrees as arguments to create reusable patterns like
retryerand fallback wrappers.