Note: Custom Behavior Tree Plugins¶
You are probably here because the stock Nav2 tree nodes are close, but not enough, and you need a clean way to expose project-specific actions or checks without turning the tree into a mess.
Likely First Answer¶
Start with Behavior Tree Plugin Walkthrough.
If the Real Problem Is...¶
- basic node shape in C++: Custom BT Action Nodes in C++
- Nav2 plugin wiring: Custom Nav2 BT Plugins and Configuration
- XML structure confusion: Behavior Tree XML Fundamentals
- plugin choice versus behavior-server plugins: Writing Custom Nav2 Behavior Plugins