# How to design a behavior tree with ROS1 framework

I am confused about how high level my behavior tree has to be. For example, if I want to create an autonomous robot that goes from point A to point, what would be a reasonable behavior tree?

For now, I think one of the first actions should be something like, loading parameter / configure nodes but I don't know if that's way lower level than the behavior tree is supposed to take care of.

• I don't understand what you mean by application program based programming model. Could you explain, please? Mar 9 at 13:02