custom-bt-action-python

To create custom Python behavior tree action nodes for Nav2, use built-in patterns with py_trees or Python wrappers to implement logic like NavigateToGoal, then connect the node directly into your Nav2 BT tree.

Yes, you can use py_trees to prototype and test non-realtime behavior tree logic for ROS 2, enabling rapid development of sensor-driven checks and custom actions before porting to C++ for production.

The best way to integrate a battery check node into a ROS 2 behavior tree is using a Python BT action node pattern, which demonstrates how to handle sensor-driven checks and lifecycle management within Nav2.

Yes, Nav2 supports Python wrappers for custom BT action nodes, allowing developers to build action nodes for prototyping and testing alongside py_trees-based implementations.

You should avoid using Python for behavior tree nodes in Nav2 for production deployments requiring realtime performance; Python nodes are intended for prototyping, testing, and non-realtime tasks before porting to C++.