custom-bt-action-cpp

To create a custom BT action node for Nav2, use a reusable BtActionNode base class template that handles the ROS 2 action client lifecycle, goal sending, feedback monitoring, and result processing within BehaviorTree.CPP.

A ROS 2 behavior tree action plugin connects to an action server by implementing a BtActionNode base class that manages the action client lifecycle, sends goals, monitors feedback, and processes results through on_success, on_aborted, and on_cancelled callbacks.

The best way to register a custom action plugin with Nav2 bt_navigator is to compile your BtActionNode implementation into a shared library, register it with the BT factory, and configure the required CMake dependencies and install targets for on-demand loading.

Yes, you can use BehaviorTree.CPP to expose ports and handle goal fields in Nav2 by leveraging a BtActionNode template that demonstrates how to configure goal fields, define input/output ports, and manage lifecycle callbacks for action servers.

Yes, you need CMake to build a ROS 2 behavior tree action node shared library because it specifies the required dependencies, install targets, and build integration steps needed to load the custom plugin into Nav2 bt_navigator.