bt-condition-nodes-nav2

Gate Nav2 navigation actions by inserting BT condition nodes into ReactiveSequence or ReactiveFallback patterns. These leaf nodes read real-time state from standard navigation topics and return SUCCESS or FAILURE to trigger replanning or recovery.

Nav2 behavior trees stall without proper gating based on world state. BT condition nodes observe goal status, battery state, path validity, and timing to trigger necessary replanning or recovery actions dynamically.

Insert a GoalUpdated BT condition node as the first child of a ReactiveFallback or ReactiveSequence in your Nav2 tree. It detects new goal arrivals and cancels the active recovery sequence to trigger immediate re-planning.

Yes, Nav2 BT condition nodes include IsBatteryLow and IsPathValid specifically for monitoring battery state and path validity. They return SUCCESS or FAILURE to gate navigation actions based on real-time world state.

Available Nav2 BT condition nodes include TimeExpired, TransformAvailable, and InitialPoseReceived. These timing-based and spatial triggers read standard navigation topics to enforce replanning or verify state within behavior trees.

No, Nav2 BT condition nodes are leaf nodes that return only SUCCESS or FAILURE, never RUNNING. This design ensures they function correctly when placed as the first child of ReactiveSequence or ReactiveFallback patterns.