New blog post exploring how we’re approaching robot task orchestration in Beam Bots.
The problem: Behaviour trees (the standard in ROS) use tick-based polling - constantly re-evaluating the tree even when nothing is happening. Not ideal for message-passing systems.
Our approach: Using reactor | Hex sagas instead:
- Dependency-driven concurrency (independent steps run in parallel automatically)
- Event-driven execution via PubSub (no polling)
- Built-in compensation for failure recovery
- Safety system integration (auto-halt on disarm)
The new bb_reactor package (v0.2.0 on Hex) provides a DSL for defining robot task sequences declaratively.
Read the full post:
