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behavior-server

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Orchestrate Nav2 recovery behaviors.

Software Engineering#backup#recovery#ros2#spin#nav2#behavior-server#bt-navigator
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

Configures the Nav2 behavior server to coordinate recovery actions like spin, backup, wait, and custom plugins when navigation fails, enabling robust and predictable recovery during autonomous operation.

Core Features & Use Cases

  • Centralized server-level parameterization for behavior plugins (spin, backup, drive_on_heading, wait, assisted_teleop) and recovery strategies.
  • Examples of BT-based recovery sequences that demonstrate clearing costmaps, re-planning, and fallback behaviors.
  • Real-world use cases include recovering from dead-ends, oscillations, or dynamic obstacle scenarios in navigation tasks.

Quick Start

Use the YAML configuration shown in this skill to enable spin, backup, drive_on_heading, wait, and assisted_teleop behaviors in the Nav2 behavior server.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: behavior-server
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#behavior-server

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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