🤖 Nav2 Behaviors Extensions¶

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

SetNavConfigurations¶

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

SetParameters¶

SetParameters adjusts parameters of various components in the robot’s navigation stack dynamically.
Invoke this behavior by sending a /set_parameter goal, which includes the node’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 nodes’ 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

LimitedTimeDriving¶

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