I am glade to see that behavior trees are becoming popular.
With my implementation (that I haven’t officially released to the ROS community) I tried to put together the best of C++ and runtime configuration, rather than compile time hard-coding.
Additionally, I am trying to create a core implementation that has no ROS dependencies and a ROS wrapper around it.
I was planning to propose a presentation for Roscon 2017, but I didn’t make it; my fault for being late 