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This is the documentation of ROS 2 PAL OS edge. For ROS 1, please visit the PAL OS 23.12 documentation.
PAL OS 25.01 documentation
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PAL OS 25.01 documentation

Capabilities and API

  • ๐Ÿ Getting started
  • ๐Ÿ›  Robot management
  • ๐Ÿ“œ Developing applications
  • โš™๏ธ Robot hardware
  • ๐Ÿ‘‹ Gestures and motions
  • ๐Ÿงญ Navigation
  • ๐Ÿฆพ Manipulation
  • ๐Ÿ‘ฅ Social perception
  • ๐Ÿ’ฌ Communication
  • ๐Ÿ˜„ Expressive interactions
  • ๐Ÿ’ก Knowledge and reasoning
  • ๐Ÿ–ฅ๏ธ User interfaces

Reference

  • PAL OS edge Highlights
  • Frequently Asked Questions
  • Glossary
  • Index
  • Index of tutorials
  • ๐Ÿšง Demos
  • List of ROS Topics
  • List of ROS Actions
  • List of ROS Services
  • List of ROS Nodes
  • List of ROS Parameters
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๐Ÿค– Nav2 Behaviors Extensionsยถ

Section

๐Ÿงญ Navigation - high-level documentation

The pal_nav2_behaviors package extends the nav2_behaviors package, providing implementations of navigation-related behaviors for robots.

SetNavConfigurationsยถ

SetNavConfigurations dynamically configures navigation settings for a robot during runtime.
This behavior is triggered via an action call, where a /set_configuration goal is sent with the desired configurations.
The behavior interacts with the SetNavConfigurations service to apply these configurations to the robot.

Parameter

Description

service_name

The ROS 2 service name to call for setting navigation configurations.

command_time_allowance

The maximum allowed time (in seconds) for the service call to succeed before timing out.

In order to know more about the SetNavConfigurations message type, you can run the command:

ros2 interface show pal_navigation_msgs/action/SetNavConfigurations

SetParametersยถ

SetParameters adjusts parameters of various components in the robotโ€™s navigation stack dynamically.
Invoke this behavior by sending a /set_parameter goal, which includes the nodeโ€™s name and the parameters to be set or adjusted.
The behavior then uses the specified service to communicate with the node and modify its parameters.

Parameter

Description

service_name

The ROS 2 service name used to set parameters. Configurable to point at different nodesโ€™ parameter services

depending on the target of the parameter adjustments.

command_time_allowance

The maximum time (in seconds) allowed for a parameter setting operation to complete before considering

it a failure.

In order to know more about the SetParameters parameters and the messages type, you can run the command:

ros2 interface show pal_nav2_msgs/action/SetParameters

LimitedTimeDrivingยถ

LimitedTimeDriving allows to navigate in any direction and/or to rotate with a choosen velocity for a limited time duration specified by the user.
Invoke this behavior by sending a LimitedTimeDrivingAction goal, which includes the linear planar velocities, the angular velocity and the duration of the motion.

Parameter

Description

topic_name

The topic on wich the command velocity set by the user will be published.

In order to know more about the LimitedTimeDriving message type, you can run the command:

ros2 interface show pal_nav2_msgs/action/LimitedTimeDrivingAction
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  • ๐Ÿค– Nav2 Behaviors Extensions
    • SetNavConfigurations
    • SetParameters
    • LimitedTimeDriving
๐Ÿ›  Getting support