multi-goal-navigation-bt

You can sequence multiple navigation goals by orchestrating NavigateToPose actions within a behavior tree. This enables dynamic patrols and waypoint following by chaining goals sequentially in your ROS 2 Nav2 deployment.

NavigateThroughPoses batch-plans a single global path through multiple goals, while sequential execution processes each goal individually. Sequential processing supports per-goal tasks, custom recovery via nested SubTrees, and memory-based progression tracking.

Yes, you can adjust patrol goals dynamically at runtime using blackboard-driven inputs. Writing new goal coordinates to the blackboard allows the behavior tree to process updated targets without requiring a restart.

Behavior trees handle failed waypoints by executing per-goal recovery through nested SubTrees. If a specific navigation goal fails, the tree triggers the associated SubTree to execute recovery actions before attempting the next goal.

Yes, memory-enabled sequences remember completed goals to resume progress after interruptions. Using SequenceWithMemory behavior, the tree tracks which waypoints are finished and continues from the last uncompleted goal.

Integrating a waypoint follower requires defining a MultiGoalPatrol behavior tree and loading goals onto the blackboard. You then execute the tree within a ROS 2 Nav2 session to leverage FollowWaypoints with task plugins.