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Package Summary

Tags No category tags.
Version 3.0.0
License Apache Licence 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/slaghuis/nav_drone.git
VCS Type git
VCS Version main
Last Updated 2023-02-16
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Behavior Tree Navigation Server for the Nav Drone Stack

Additional Links

No additional links.

Maintainers

  • Eric Slaghuis

Authors

No additional authors.

BT Navigator

The BT Navigator (Behavior Tree Navigator) module implements the NavigateToPose and NavigateThroughPoses task interfaces. It is a Behavior Tree-based implementation of navigation that is intended to allow for flexibility in the navigation task and provide a way to easily specify complex robot behaviors.

See its Configuration Guide Page for additional parameter descriptions, as well as the Nav2 Behavior Tree Explanation pages explaining more context on the default behavior trees and examples provided in this package.

Overview

The BT Navigator receives a goal pose and navigates the robot to the specified destination(s). To do so, the module reads an XML description of the Behavior Tree from a file, as specified by a Node parameter, and passes that to a generic BehaviorTreeEngine class which uses the Behavior-Tree.CPP library to dynamically create and execute the BT. The BT XML can also be specified on a per-task basis so that your robot may have many different types of navigation or autonomy behaviors on a per-task basis.

Depencencies

BehaviorTree.CPP

The navigation server depends on the BehaviourTree.CPP library

Usage

Call the action server

ros2 action send_goal nav_drone/navigate_to_pose "nav_drone_msgs/action/NavigateToPose" "{pose: {pose: {position: {x: 5.0, y: 1.0, z: 2.0}, orientation: { x: 0, y: 0, z: 0, w: 1}}, header: {frame_id: map}}, behavior_tree: sample.xml}"


Code Status

This is still a work in progress. This code has not flown in a simulator yet. (17/11/2022)

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nav_drone_bt_navigator at Robotics Stack Exchange

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