Robotics Design Patterns

If you're building robot software and staring down decisions about behavior trees versus FSMs, or trying to figure out how to structure your perception-planning-control pipeline without creating a mess, this will save you time. It walks through the standard layered architecture that every real robot uses, gives you working py_trees and SMACH code for behavior management, and covers the practical stuff like blackboard patterns, hardware abstraction layers, and safety watchdogs. The behavior tree coverage is solid with actual node implementations you can adapt. Best for when you're past "hello world" tutorials but before you've made all the architectural mistakes yourself.