custom-bt-action-cpp

What problem does it solve?

Bridges BehaviorTree.CPP with ROS 2 action servers by providing a template base class BtActionNode that handles action client lifecycle, goal sending, feedback monitoring, and result processing.

Core Features & Use Cases

• BT Action Node Template: Provides a reusable base class to implement new ROS 2 action clients within Nav2 BTs.
• Ports & Lifecycle: Demonstrates how to expose ports, configure goal fields, and handle results via on_success/on_aborted/on_cancelled.
• Plugin Registration & Build: Includes example code for registering the node with BT factory and loading into Nav2 bt_navigator.
• CMake & Build Integration: Shows required dependencies and install targets for building a shared library.
• Use Case: Create a custom SaySomething action node to connect an action server to a BT.

Quick Start

Compile the custom BtActionNode into a shared library and register it with Nav2 so it can be loaded by the bt_navigator.