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🔌 Target Navigation API#
ROS 2 API#
To interact with the Target Navigation module, you can refer to the following ROS 2 API:
Actions |
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The nodes bt_navigator and pal_bt_navigator_to_target implement the main Target Detection functionalities.
To configure the bt_navigator you can refer to the Behavior-Tree Navigator Configuration Guide.
Note
To configure the Behavior Tree for the Target Navigation, you can create your own parameter file and follow the guide in 📔 Navigation Configuration Guide section:
touch ~/.pal/pal_navigation_cfg_params/params/nav2_bt_navigator/my_target_bt_navigator.yaml
vi ~/.pal/pal_navigation_cfg_params/params/nav2_bt_navigator/my_target_bt_navigator.yaml
To configure the pal_bt_navigator_to_target you can refer to the following table containing
the NavigateToTarget Navigator node’s parameters and their explanation.
Parameter |
Description |
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The blackboard variable name where the target ID will be stored. |
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The blackboard variable name for the detector to be used for identifying the target. |
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The blackboard variable name where the goal pose towards the target will be stored. |
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Default Behavior Tree XML file that this Navigator will load if no specific BT is provided in the goal. |
Note
To configure the pal_bt_navigator_to_target, you can create your own parameter file and follow the guide in 📔 Navigation Configuration Guide section:
touch ~/.pal/pal_nav2_bt_navigator/params/my_navigate_to_target.yaml
vi ~/.pal/pal_nav2_bt_navigator/params/my_navigate_to_target.yaml
RVIZ GUI#
To allow the user to easily interface with the Target Navigation, PAL Navigation for ROS 2 provides the PAL Navigation2 Panel which monitors the target navigation status.
PAL Navigation2 Panel#
The PAL Navigation2 Panel is a graphical interface that allows the user to monitor the status of the target navigation. It shows the chosen behavior tree, the detector, the current target ID as well as navigation status and feedbacks.
Before starting the Target Detection and Navigation workflow, you need to select BT, detector and target ID using the proper dropdown menus which allow to set also some custom path for your own implementations.
