recovery-behavior-tree
CommunityDesign robust recovery behavior trees for Nav2.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
Navigation in ROS 2 Nav2 can fail due to planning or obstacle conditions. This skill provides a structured recovery pattern that wraps normal navigation in a RecoveryNode and an escalating recovery sequence to retry or adapt when failures occur.
Core Features & Use Cases
- RecoveryNode orchestration: two-branch structure with a normal navigation branch and a recovery branch that triggers on failure.
- PipelineSequence and ReactiveFallback: maintain continuous replanning while following a path; apply sequential recovery actions when needed.
- RoundRobin recovery strategies: cycle through ClearCostmaps, Spin, Wait, BackUp, etc., with a GoalUpdated guard to cancel on new goals.
- Configurable retries: number_of_retries controls how many recovery attempts to perform before giving up.
- ROS 2 Nav2 integration: designed for Nav2 behavior trees and ROS 2 navigation pipelines.
- Example: If the robot hits an obstacle, NavigateRecovery cycles through recovery strategies to replan and retry.
Quick Start
Create a RecoveryNode-based behavior tree that retries navigation with escalating recovery actions when the normal path fails.
Dependency Matrix
Required Modules
None requiredComponents
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: recovery-behavior-tree Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#recovery-behavior-tree Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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