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patrol-behavior-tree

Automates ROS 2 patrol behavior trees with recovery and battery monitoring.

18|2|Updated Apr 20, 2026
Search Tags:#navigation#robotics#ROS2#fault-tolerance#battery-management#behavior-tree#patrol
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill patrol-behavior-tree
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: patrol-behavior-tree
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/patrol-behavior-tree
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill patrol-behavior-tree

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Builds a robust patrol behavior tree that enables cyclic waypoint patrol with automatic recovery and battery monitoring for ROS 2 robots.

Core Features & Use Cases

  • Robust patrol loop with recovery, retries, and low-battery handling
  • Per-room navigation configuration via blackboard
  • Use Case: A service robot autonomously patrols office spaces, charges when needed, and reacts to anomalies like intruders

Quick Start

Initialize the patrol BT by loading charger and room poses onto the blackboard, then start PatrolLoop.

Frequently Asked Questions about patrol-behavior-tree

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

FAQPage Schema
How do I build a ROS 2 behavior tree for cyclic waypoint patrol with battery monitoring?▼

The patrol behavior tree uses a top-level ReactiveFallback structure to prioritize battery emergencies, enabling robust cyclic waypoint patrol and automatic recovery from navigation failures in indoor environments.

How does a behavior tree handle navigation failure recovery during robot patrols?▼

Recovery from navigation failures during patrols is handled by a multi-layer patrol loop within the behavior tree, which automatically retries navigation and maintains continuous cyclic waypoint execution.

Can I configure per-room navigation waypoints for an indoor patrol robot?▼

Yes, per-room navigation configuration is supported via explicit blackboard initialization. You load specific room poses onto the blackboard before starting the patrol loop for indoor environments.

Does this patrol behavior tree support proactive battery management and charging?▼

Yes, the behavior tree supports proactive battery management and charging. A top-level ReactiveFallback node continuously monitors battery state and prioritizes charging emergencies during patrols.

What is the best way to structure a ROS 2 behavior tree for fault-tolerant patrols?▼

The best way to structure a fault-tolerant patrol behavior tree is using a top-level ReactiveFallback node to prioritize battery emergencies, multi-layer patrol loops for navigation, and explicit blackboard initialization.

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