Demo simulation with custom Navigation2 Behavior Tree

[ljaniec]

Hello,

Since Neobotix robots in your simulation are used with Nav2 stack, would it be possible to present a task execution example (e.g. picking demo with wait_for_input plugin) using custom BT and Nav2 nodes (based on this tutorial)? With use of nav2_bt_navigator or similar.

At the moment I couldn't find any nice and simple example of its use.
It could be then promoted as a tutorial on ROS Discourse forum or linked on the ROS2/Nav2 website as a Neobotix tutorial.

Best regards
Łukasz Janiec

[padhupradheep]

Hey, thanks for the request! Are you sure there is a wait_for_input BT Plugin ? or do you just mean wait ? Also what do you mean by picking demo? Is it something like dock and toe? If so, at the moment we do not have any plans to develop the BT-Plugins for docking or toeing. For that matter of fact, we are not planning to use any custom BT's for now, but rather just stick to the default one.

It could be then promoted as a tutorial on ROS Discourse forum or linked on the ROS2/Nav2 website as a Neobotix tutorial.

This indeed is a good idea, we will surely do it, once we develop it.

If you have any specific application in mind, please feel free to add your ideas. We will be happy to hear about it as well.

[ljaniec]

You are right, I made a mistake - it is input_at_waypoint Waypoint Follower plugin from there. The wait BT plugin was from there and I have mismatched things in my head, I am sorry.

Picking demo - pickup and drop demo, that's it: a robot moves to the point A, wait for the input from the human for package pickup confirmation, moves to the point B, wait for the input ("drop"). It seems like a really good base for more complex stuff later too.

Thanks for your fast answer, I understand that default BT is fine too.

[padhupradheep]

Picking demo - pickup and drop demo, that's it: a robot moves to the point A, wait for the input from the human for package pickup confirmation, moves to the point B, wait for the input ("drop"). It seems like a really good base for more complex stuff later too.

I like this idea, I do not know when will this be added to the BT tree. But I will keep this as an "open" issue, so that I have this in my mind for the next year.

[ljaniec]

There:
https://github.com/Adlink-ROS/BT_ros2/
Are some examples with custom BT, but right now the package isn't compiling correctly on my side. EDIT: It's fixed now for foxy/galactic.

I created an issue with it there:
Adlink-ROS/neuronbot2#26

It could still be a base for this kind of demo so I wanted to mention it there.