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multi-goal-navigation-bt

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Orchestrate multi-goal patrols with BT navigation

Software Engineering#recovery#ros2#behavior-trees#patrol#nav2#btcpp#multigoal
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

Coordinates multi-goal navigation using Behavior Trees to sequence NavigateToPose goals and waypoint following.

Core Features & Use Cases

  • NavigateThroughPoses: batch-plans a global path through multiple goals.
  • SequentialNavigateToPose: per-goal execution with recovery and per-goal tasks.
  • Waypoint Follower integration: leverages FollowWaypoints with task plugins.
  • Dynamic goals on the blackboard: adjust patrol goals at runtime without restarting the tree.
  • Memory-enabled sequences: remembers completed goals to resume progress after interruptions.

Quick Start

Define a MultiGoalPatrol BehaviorTree and load goals on the blackboard, then execute the tree in a ROS 2 Nav2 session.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: multi-goal-navigation-bt
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#multi-goal-navigation-bt

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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