bt-condition-nodes-nav2
CommunityGuard Nav2 navigation with BT condition nodes.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Nav2 navigation often stalls or recovers unreliably without proper gating based on world state. This Skill provides built-in BT condition nodes that observe goal status, battery state, path validity, and timing to trigger replanning or recovery when needed.
Core Features & Use Cases
- Leaf nodes return SUCCESS or FAILURE (never RUNNING) and are designed to be placed as the first child of a ReactiveSequence or ReactiveFallback.
- Supports Condition nodes such as GoalUpdated, GoalReached, IsBatteryLow, IsPathValid, TimeExpired, TransformAvailable, and InitialPoseReceived for gating navigation.
- Use Case: insert a GoalUpdated node to cancel a recovery sequence when a new goal arrives, triggering immediate re-planning.
Quick Start
Add the Nav2 BT condition nodes to a ReactiveSequence or ReactiveFallback in your Nav2 tree.
Dependency Matrix
Required Modules
None requiredComponents
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: bt-condition-nodes-nav2 Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#bt-condition-nodes-nav2 Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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