Plugin Tutorials

Nav2 Tutorials

• Writing a New Behavior Plugin

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  Create custom primitive behaviors with shared resources.

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• Writing a New Behavior Tree Plugin

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  Create custom BT action, condition, or decorator nodes.

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• Writing a New Controller Plugin

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  Create a custom local trajectory planner.

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• Writing a New Costmap2D Plugin

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  Create a custom costmap layer plugin.

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• Writing a New Navigator Plugin

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  Create a custom high-level navigation task type.

  Go

• Writing a New Planner Plugin

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  Create a custom global path planner.

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