Multi-Goal Navigation with Behavior Trees

Source: ros2-copilot-skills multi-goal navigation BT skill

Why This Matters

Many robot tasks are more than one destination. Patrol loops, inspection routes, multi-room chores, and workflow sequences all need autonomy that reasons across multiple goals rather than treating each navigation request as an isolated event.

Distilled Takeaways

• Waypoint following is useful, but BT-based multi-goal autonomy gives richer control over branching, retries, and mission context.
• Multi-goal navigation benefits from reusable subtrees and explicit state on the blackboard.
• The right abstraction depends on whether the robot is executing a route or a real task workflow.
• Mission-level logic belongs above individual navigate-to-pose calls.

Practical Guidance

• Use BT structure when goals have dependencies, conditional behavior, or mission context.
• Keep route state and goal progression explicit rather than implicit in action callbacks.
• Design for interruption, replanning, and partial completion.
• Reserve simple waypoint followers for simpler route-execution use cases.

Corroborating References

• Nav2 behavior tree docs
• Nav2 waypoint follower docs

When to Read the Original Source

Go to the original skill when you want concrete multi-goal BT patterns and the practical distinction between route execution and richer on-robot autonomy.