0
$\begingroup$

I'm trying to create a my own custom bt plugin. In the official tutorial https://navigation.ros.org/plugin_tutorials/docs/writing_new_bt_plugin.html, I can't see an instruction or an example on how to create a behavior tree plugin in a separate ros2 package just like in this nav2 repo tutorial https://github.com/ros-planning/navigation2_tutorials/tree/master where the custom plugins (custom costmap, behavior, controller and planner) are created in a separate package.

So I'm wondering, is it possible to create the bt plugin/node in a separate package? or I need to install nav2 from source and try to create the bt plugin on the /navigation2/nav2_behavior_tree/plugins folder?

Improve this question
$\endgroup$

1 Answer 1

Reset to default
0
$\begingroup$

Yes, it is possible. There's nothing special about the nav2_behavior_tree package. Here's one such recent example: https://github.com/open-navigation/opennav_coverage/tree/main/opennav_coverage_bt

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.