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How to get nav2 BT state/running nodes

asked 2021-10-28 18:44:02 -0500

charlie92
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updated 2021-10-28 18:46:10 -0500

Is there any topic or service from where you can get the current state of the BT? How to know for example when the BT entered a recovery branch and its what iis the status of its childs?

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answered 2021-10-28 23:35:36 -0500

stevemacenski

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Yup! Check out the nav2_msgs package! We publish some behavior tree status messages regularly. The topic is subject to change but if you search for these types you can find the specific topic used in your distribution.

https://github.com/ros-planning/navig...

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Asked: 2021-10-28 18:44:02 -0500

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Last updated: Oct 28 '21

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How to get nav2 BT state/running nodes