pal_bt_navigator_through_waypoints#
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pal_bt_navigator_through_waypoints Quick Facts
- Category
- Debian package
pal_nav2_bt_navigator-None- License
Propietary
- Source code
https://gitlab/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