Details are to be found here.
This is a catkin
package. Clone it into a catkin workspace, fullfill the dependencies and build it.
After building the code, it's best practice to source the workspace again with
source ~/catkin_ws/devel/setup.bash
Run the example with
rosrun bt_minimal_example bt_minimal_example
Before every tick, the expected action is announced. The action after the tick should be consistent with the announced action.