Hi,

We are revamping our robot behavior and we are looking into BehaviorTrees but we don't understand how to implement the user input.

We have multiple exclusive actions triggered by user inputs such as "AutoCalibrate", "GeneratePlan", "DoPlan", "GoToChargingStation" or "Stop". All these actions can be plugged together to get a meaningful behavior but should also be able to do them each separately and able to be stopped by the "Stop" user input.

How do we do that "Subtree selection"? As I come from a state machine, I think "I would need a new Selector ControlNode" to handle state-like transitions.

Are we supposed to create multiple RootBehaviors and tick them with a high-level state machine?