Integration of an Automated Hierarchical Task Planner in ROS Using Behaviour Trees

In this paper we present an architecture that embeds an automatic task planner into the Robotic Operating System (ROS). The plans generated by the planner are automatically converted into executable behaviour trees. These behaviour trees are used as the basis of an execution monitoring process that is able to detect when the plan fails, trying to repair it or triggering a replanning process. This makes our architecture able to adapt to unexpected changes in the world, modifying the robot's behaviour in a reactive way while trying to achieve a given goal. We have tested our approach in a simulated scenario.