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behavior-server

Configure Nav2 behavior server recovery actions via YAML.

18|2|Updated Apr 20, 2026
Search Tags:#backup#recovery#ros2#spin#nav2#behavior-server#bt-navigator
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill behavior-server
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: behavior-server
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/behavior-server
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill behavior-server

SYSTEM DOCUMENTATION & REQUIREMENTS

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.

Frequently Asked Questions about behavior-server

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I configure Nav2 recovery behaviors for spin, backup, and wait actions?▼

To configure Nav2 recovery behaviors, use the unified YAML configuration to enable spin, backup, drive_on_heading, wait, and assisted_teleop plugins within the Nav2 behavior server for predictable navigation fault recovery.

What recovery behaviors are available in the Nav2 behavior server?▼

The Nav2 behavior server supports spin, backup, drive_on_heading, wait, and assisted_teleop recovery behaviors. These plugins are coordinated through centralized server-level parameters to manage navigation failures like dead-ends and oscillations.

How do I set up BT-based recovery sequences to clear costmaps in ROS 2 Nav2?▼

BT-based recovery sequences in ROS 2 Nav2 are set up using example configurations that demonstrate clearing costmaps, re-planning, and fallback behaviors to resolve dynamic obstacle scenarios and navigation dead-ends.

Can I use custom behavior plugins with the Nav2 behavior server?▼

Yes, the Nav2 behavior server allows custom behavior plugins. You can integrate custom recovery actions alongside standard plugins like spin, backup, and wait using the centralized YAML configuration and BT-based recovery sequences.

Why does my Nav2 navigation fail to recover from oscillations and dead-ends?▼

Nav2 navigation fails to recover from oscillations and dead-ends when the behavior server lacks properly configured recovery sequences. Configuring spin, backup, and wait plugins with BT-based fallback behaviors resolves these dynamic obstacle scenarios.

Does the Nav2 behavior server support assisted_teleop for recovery?▼

Yes, the Nav2 behavior server supports assisted_teleop for recovery. It is configured alongside spin, backup, drive_on_heading, and wait behaviors within the unified YAML configuration to handle complex navigation fault scenarios.

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