Questions tagged [behavior-tree]
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9 questions
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How to make Regulated Pure Pursuit stop and wait for obstacles instead of aborting?
I’m using Regulated Pure Pursuit (RPP) in ROS 2 Jazzy Nav2 to follow a path. My goal is to have the robot stop and wait whenever there’s an obstacle in front of it, instead of aborting the goal. I ...
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Creating a Custom Nav2 BT Plugin to Follow a Predefined Path Topic Without a Global Planner
I'm building a custom Behavior Tree (BT) plugin for ROS 2 Nav2 (Humble), which subscribes to a nav_msgs/msg/Path topic (e.g. /custom_plan) and sets it directly on the blackboard for use by the ...
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Nav2 Behavior Tree Not Triggering Docking When Battery Is Low in ROS2
I'm working on a mobile robot using ROS2 Humble and Nav2 with the Docking server. I want the robot to automatically dock when the battery is low, using a Behavior Tree and battery state monitoring.
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Integrating custom tree with Nav2 behaviour tree
I have a simple application. I want robot to spin for some time after starting. and then move on to goal following.
As far as I know, Nav2 has provided us with these nodes(eg. Spin). Is it possible to ...
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Nav2 behavior tree pause routine
I want to introduce pause routine to my robots job execution tree in nav2 BT. A job is simply traversing a set of paths got from opennav_coverage package, that are served by PathComponentsIterator. ...
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Is there a tool to convert between XML and behavior tree flowcharts?
I have learned the basic concept of behavior tree, but the behavior tree xml file in ros2 does not match. I would like to ask if there is a better tool to convert the behavior tree of the flowchart ...
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Understanding Action Node in BT
The Action Nodes of ControllerSelector and PlannerSelector in the Behavior Tree: https://docs.nav2.org/configuration/packages/configuring-bt-xml.html
Where exactly do they get their information from? ...
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Help with understanding Behavior Tree XML Nodes
I have difficulty understanding the Behavior Tree in navigate_to_pose_w_replanning_goal_patience_and_recovery.xml. I will first share the code, and then my questions.
Code:
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Nav2 distance traveled condition
I'm looking at this code (Humble branch):
https://github.com/ros-navigation/navigation2/blob/humble/nav2_behavior_tree/plugins/condition/distance_traveled_condition.cpp
I don't think this works or ...
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