Skip to content

add route planning BT nodes to nav2_tree_nodes.xml #5534

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
SteveMacenski merged 1 commit into from
Sep 18, 2025
Merged

add route planning BT nodes to nav2_tree_nodes.xml #5534

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 22 additions & 0 deletions nav2_behavior_tree/nav2_tree_nodes.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -311,6 +311,18 @@
<output_port name="pose">Stamped extracted pose</output_port>
</Action>

<Action ID="GetCurrentPose">
<input_port name="global_frame">Global reference frame</input_port>
<input_port name="robot_base_frame">robot base frame</input_port>
<output_port name="current_pose">Current pose output</output_port>
</Action>

<Action ID="ConcatenatePaths">
<input_port name="input_path1">Input Path 1 to cancatenate</input_port>
<input_port name="input_path2">Input Path 2 to cancatenate</input_port>
<output_port name="output_path">Paths concatenated</output_port>
</Action>

<!-- ############################### CONDITION NODES ############################## -->
<Condition ID="GoalReached">
<input_port name="goal">Destination</input_port>
Expand Down Expand Up @@ -388,11 +400,21 @@
<input_port name="error_code">Error code</input_port>
</Condition>

<Condition ID="WouldARouteRecoveryHelp">
<input_port name="error_code">Error code</input_port>
</Condition>

<Condition ID="AreErrorCodesPresent">
<input_port name="error_code">Error code</input_port>
<input_port name="error_codes_to_check">Error codes to check, user defined</input_port>
</Condition>

<Condition ID="ArePosesNear">
<input_port name="ref_pose">Destination</input_port>
<input_port name="target_pose">Destination</input_port>
<input_port name="global_frame">Global frame</input_port>
<input_port name="tolerance">Tolerance</input_port>
</Condition>

<!-- ############################### CONTROL NODES ################################ -->
<Control ID="PipelineSequence"/>
Expand Down
Loading