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custom-behavior-plugin

Create custom Nav2 behavior plugins by subclassing nav2_core::Behavior and registering with pluginlib.

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

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Create a custom Nav2 behavior plugin to extend robot capabilities with new recovery or operational actions used by the behavior server.

Core Features & Use Cases

  • Inherit from nav2_core::Behavior to implement a new plugin, including required lifecycle methods (configure, cleanup, activate, deactivate, onRun, onCycleUpdate).
  • Register the plugin with pluginlib and expose it to the behavior_server YAML configuration for dynamic loading.
  • Use in ROS 2 Nav2 deployments to modularize behavior logic and enable plug-and-play recovery strategies in complex tasks.

Quick Start

Create a new behavior plugin by subclassing nav2_core::Behavior, implement the required methods, and register it with pluginlib for use in the behavior_server.

Frequently Asked Questions about custom-behavior-plugin

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

FAQPage Schema
How do I create a custom Nav2 behavior plugin for recovery?▼

To create a custom Nav2 behavior plugin, subclass nav2_core::Behavior, implement lifecycle methods like configure and onCycleUpdate, then register it with pluginlib for dynamic loading by the behavior_server.

What methods are required to implement a Nav2 behavior plugin?▼

A Nav2 behavior plugin requires implementing configure, cleanup, activate, deactivate, onRun, and onCycleUpdate lifecycle methods defined in the nav2_core::Behavior interface to ensure proper node execution.

How do I load a custom behavior plugin in ROS 2 Nav2?▼

You load a custom behavior plugin by registering it with pluginlib, exporting it via CMake, and configuring the behavior_server YAML file to reference your plugin's package and class name.

When do I need a custom behavior plugin for my Nav2 deployment?▼

You need a custom behavior plugin when standard Nav2 recovery actions are insufficient, allowing you to modularize specialized operational strategies and plug them directly into the behavior_server.

Can I use pluginlib to dynamically load Nav2 behaviors?▼

Yes, pluginlib dynamically loads Nav2 behaviors by resolving plugin XML exports at runtime, connecting the behavior_server to your custom nav2_core::Behavior subclass without recompiling the core stack.

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