skills.rest
wimblerobotics
wimbleroboticsCOMMUNITY
Explore all skills by this author →
GitHub

custom-bt-condition-cpp

Create custom ROS 2 BehaviorTree.CPP condition nodes in C++ with BT::ConditionNode inheritance and providedPorts().

18|2|Updated Apr 20, 2026
Search Tags:#cpp#ros2#robotics#custom-node#behavior-tree#bt-node
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill custom-bt-condition-cpp
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: custom-bt-condition-cpp
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/custom-bt-condition-cpp
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill custom-bt-condition-cpp

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Enable developers to implement custom ROS 2 BehaviorTree.CPP condition nodes in C++ to query world state and influence task flow with deterministic checks.

Core Features & Use Cases

  • Inherit from BT::ConditionNode and expose ports via providedPorts() to declare inputs like topics, thresholds, and outputs.
  • Access ROS 2 world state through the BT blackboard to read the node handle and sensor data, enabling synchronized decision logic.
  • Use with Nav2 or any ROS 2 navigation/automation flow to gate actions based on concrete conditions.

Quick Start

Implement a new condition node by extending BT::ConditionNode, implement tick() with your logic, expose ports, and register it with the BT factory.

Frequently Asked Questions about custom-bt-condition-cpp

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

FAQPage Schema
How do I create a custom ROS 2 behavior tree condition node in C++?▼

To create a ROS 2 behavior tree condition node in C++, inherit from BT::ConditionNode, implement tick() with your logic, expose inputs via providedPorts(), and register the node with the BT factory.

How does a behavior tree condition node access ROS 2 sensor data?▼

A behavior tree condition node accesses ROS 2 sensor data through the BT blackboard to read the ROS 2 node handle, enabling synchronized world-state checks for deterministic decision logic.

When do I need a synchronous condition node in a ROS 2 behavior tree?▼

You need a synchronous condition node in a ROS 2 behavior tree when performing deterministic world-state checks such as obstacle detection, sensor gating, and conditional navigation task gating.

Does this approach to custom BT nodes work with Nav2 navigation flows?▼

Yes, this custom BT condition node approach works with Nav2 or any ROS 2 automation flow to gate actions based on concrete conditions read from the synchronized ROS 2 world state.

How do I integrate custom behavior tree nodes into a ROS 2 CMake build?▼

You integrate custom behavior tree nodes into a ROS 2 CMake build through proper compile-time integration that includes CMake configuration and plugin registration with the BT factory.

Do I need thread-safe message handling for ROS 2 behavior tree conditions?▼

Yes, you need thread-safe message handling when implementing ROS 2 behavior tree conditions to ensure reliable synchronized decision logic while reading sensor data from the blackboard.

Related Skills

Explore More Software Engineering Skills→
p1tl0rdp1tl0rd
8

ros2-build-resolver

Diagnose Colcon ROS 2 build failures and propose CMake and rosdep fixes.

Community
Advanced
castackscastacks
84

add-behavior-tree-node

Create and register custom Behavior Tree nodes for the AirStack BT framework.

Official
Advanced
wimbleroboticswimblerobotics
18

bt-blackboard-patterns

Coordinate data sharing between ROS 2 behavior tree nodes via blackboard patterns.

Community
Intermediate
wimbleroboticswimblerobotics
18

custom-bt-action-python

Create Python behavior tree action nodes for ROS 2/Nav2 with py_trees.

Community
Advanced