Nav2 Trees

Behaviour Trees written using py_trees for navigation2.

Usage

See nav2_bringup for pre-requisites and launching navigation2. Branch dashing-devel is used.
Run ros2 run nav2_trees simple.
Localize the robot using 2D Pose Estimate tool in rviz.
Set the goal in rviz using 2D Nav goal (Set Goal Tool).
(Optional) run py-trees-tree-watcher or py-trees-tree-viewer to visualize the tree