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PAL OS 25.01 documentation

Capabilities and API

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Reference

  • PAL OS edge Highlights
  • Frequently Asked Questions
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navigate_through_waypoints¶

Caution

This documentation page has been auto-generated.

It may be missing some details.

navigate_through_waypoints Quick Facts

Category

🧭 Navigation

Debian package

pal_nav2_bt_navigator-None

License

Propietary

Source code

https://gitlab.pal-robotics.com/navigation/pal_navigation2/-/tree/alum-devel/pal_nav2_bt_navigator

Alongside Nav2 NavigateToPose and Nav2 NavigateThroughPose, NavigateThroughWaypoints is a Nav2 BT Navigator intended to allow for flexibility in the Waypoint navigation task and provides a way to easily specify complex robot behaviors.

This node provides the /navigate_through_waypoints, which is a BT implementation of the nav2_waypoint_follower. It allows to:

  • Define a list of Waypoints the robot should navigate to

  • Select a list of Waypoint Actions that the robot should perform upon the reception of the Waypoint

  • Define a logic (using a BT) that the robot should use upon the Waypoint Navigation. i.e. What should the robot do if a Waypoint is unreachable, or if the selected Waypoint Actions is not available, and so on.

For more information, check 🚩 Waypoint Navigation.

Node management¶

How to check the status of the node?¶

# this  a copy-pastable snippet to check the status
# this  a copy-pastable snippet using rosnode/rostopic to check the node is working

How to access the node’s logs?¶

# this  a copy-pastable snippet

How to start/stop/restart the node¶

# this  a copy-pastable snippet

Using in your code/application¶

Access via the robot’s GUI¶

[insert screenshots here]

Access via ROS standard tools¶

# this  a copy-pastable snippet

[insert screenshots here]

Using in Python¶

# this  a copy-pastable snippet

Using in C++¶

# this  a copy-pastable snippet

Reference¶

Subscribed topics¶

Published topics¶

Actions server¶

Actions client¶

Services¶

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On this page
  • navigate_through_waypoints
    • Node management
      • How to check the status of the node?
      • How to access the node’s logs?
      • How to start/stop/restart the node
    • Using in your code/application
      • Access via the robot’s GUI
      • Access via ROS standard tools
      • Using in Python
      • Using in C++
    • Reference
      • Subscribed topics
      • Published topics
      • Actions server
      • Actions client
      • Services
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