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wait-behavior

Pause navigation for a defined duration during dynamic obstacle encounters.

18|2|Updated Apr 20, 2026
Search Tags:#navigation#recovery#wait#robotics#bt#nav2
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill wait-behavior
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: wait-behavior
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/wait-behavior
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill wait-behavior

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

Pause navigation when obstacles are detected by waiting for a defined duration, allowing dynamic obstacles to clear or sensor data to stabilize.

Core Features & Use Cases

  • Simple, deterministic recovery: pause for a set wait_duration and resume navigation.
  • Primary recovery option in RoundRobin sequences to handle transient obstructions.
  • Compatible with BT-based behavior trees and Nav2 recovery pipelines.

Quick Start

Integrate the Wait recovery into your recovery pipeline and invoke Wait with a wait_duration in your BT when an obstacle appears.

Frequently Asked Questions about wait-behavior

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

FAQPage Schema
How do I pause Nav2 navigation when a dynamic obstacle is detected?▼

You can pause Nav2 navigation by integrating a Wait recovery behavior into your BT pipeline that publishes zero velocity for a set wait_duration, allowing dynamic obstacles to clear before resuming.

What is the best way to handle transient obstructions in a patrol robotics behavior tree?▼

Using a Wait behavior as a primary recovery option in a RoundRobin sequence handles transient obstructions by pausing navigation deterministically for a set wait_duration until the path clears.

Can I use this wait recovery behavior with my existing Nav2 behavior tree configuration?▼

Yes, the Wait behavior integrates directly into Nav2 BT-based behavior trees and recovery pipelines through the behavior plugin configuration without requiring additional dependencies.

How do I configure a wait_duration parameter for a Nav2 recovery sequence?▼

You configure the wait_duration parameter within the behavior plugin configuration of your Nav2 recovery pipeline, determining exactly how long the robot publishes zero velocity before resuming.

When should I not use a wait behavior for obstacle recovery in robotics?▼

You should not use a wait behavior when minor delays are unacceptable, such as time-critical navigation scenarios, because it deterministically pauses navigation for the entire wait_duration.

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