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Absolutely and pretty easily, Nav2 was specifically designed do you could BYOC (bring your own components) or rip out things you don't need. If you look at the main Nav2 diagram in the documentation https://navigation.ros.org/, you'll see a number of main "task" servers. You should simply remove the ones you don't want or need to reduce the requirements on your system. In particular, it sounds like you don't want the Planner server or the Waypoint Follower server. You probably don't need AMCL or map server either.

At that point, its about configuring the behavior tree to contain the business-specific logic that you would like to have happen (e.g. follow a path given to it from another source) or call the controller server directly.

There's no reason you should need to fake out a map, you could remove that.

Could not load library: libnav2_compute_path_through_poses_action_bt_node.so

That's from the BT navigator not about to find a particular library. You should make sure that your list in the configuration file represents the distribution that you're actually using. Older distributions might not have all of the BT nodes that more current ones do.