docs(tutorials): add Navigate Through Poses tutorial and improve its BT behavior-tree explanation by FelixZF-Happy · Pull Request #880 · ros-navigation/docs.nav2.org

FelixZF-Happy · 2026-02-23T01:54:13Z

…BT behavior-tree explanation

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(#172 )
Does this PR contain AI-generated software?	(Yes, all python and C++ codes)

Description of contribution in a few bullet points

The BT behavior-tree explanation was refreshed to match the current
navigate_through_poses_w_replanning_and_recovery.xml flow.
This tutorial now includes TB4 minimal simulation examples in three forms:
CLI, C++, and Python.

…BT behavior-tree explanation Signed-off-by: FelixZF-Happy <felix.zifan.fei@gmail.com>

behavior_trees/trees/nav_through_poses_recovery.rst

tutorials/docs/navigate_through_poses.rst

SteveMacenski · 2026-02-26T19:11:35Z

tutorials/index.rst

   docs/navigation2_with_gps.rst
   docs/using_isaac_perceptor.rst
   docs/navigation2_with_semantic_segmentation.rst
+   docs/navigate_through_poses.rst


Move this above the issac perceptor, its a more 'core' intro thing

I don't think this is in the index anymore?

The title has been updated to "Navigating with Pose Constraints (Navigate Through Poses)" as you suggested earlier. I’ve also moved it above Isaac Perceptor. After clearing the webpage cache, it now appears in the correct order. I’ll review a few other tutorials to align with the style.

tutorials/docs/navigate_through_poses.rst

SteveMacenski · 2026-02-26T19:13:10Z

tutorials/docs/navigate_through_poses.rst

+- Ubuntu 24.04, ROS 2 Jazzy, Kilted or later, and Nav2 is installed.
+- The ``nav2_minimal_turtlebot_simulation`` `repository <https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation>`_
+  is included in the ROS 2 system install, no need to build or source it separately.
+- Understand the ``navigate_through_poses_w_replanning_and_recovery.xml`` `behavior tree <https://docs.nav2.org/behavior_trees/trees/nav_through_poses_recovery.html>`_.


Isn't this going to go over that? 🙃

SteveMacenski · 2026-02-26T19:13:16Z

tutorials/docs/navigate_through_poses.rst

+- The ``nav2_minimal_turtlebot_simulation`` `repository <https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation>`_
+  is included in the ROS 2 system install, no need to build or source it separately.
+- Understand the ``navigate_through_poses_w_replanning_and_recovery.xml`` `behavior tree <https://docs.nav2.org/behavior_trees/trees/nav_through_poses_recovery.html>`_.
+- Familiar with ROS 2 actions and `NavigateThroughPoses.action <https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/action/NavigateThroughPoses.action>`_ definition.


SteveMacenski · 2026-02-26T19:13:55Z

tutorials/docs/navigate_through_poses.rst

+- Understand the ``navigate_through_poses_w_replanning_and_recovery.xml`` `behavior tree <https://docs.nav2.org/behavior_trees/trees/nav_through_poses_recovery.html>`_.
+- Familiar with ROS 2 actions and `NavigateThroughPoses.action <https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/action/NavigateThroughPoses.action>`_ definition.
+
+Start TB4 simulation


Before jumping in, you should talk about what even is navigating through poses, why you might want to do it, a little on the action definition, and the example behavior tree using it. Motivate the subject :-)

SteveMacenski · 2026-02-26T19:14:31Z

tutorials/docs/navigate_through_poses.rst

+   ros2 launch nav2_minimal_tb4_sim simulation.launch.py
+
+This uses ``nav2_minimal_tb4_sim/launch/simulation.launch.py`` and spawns TB4 in Gazebo.
+
+Start Nav2 stack
+================
+
+Terminal 2:
+
+.. code-block:: bash
+
+   ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True slam:=True autostart:=True


Use the Nav2 bringup for TB3/4. You don't need to separate these.

SteveMacenski · 2026-02-26T19:15:20Z

tutorials/docs/navigate_through_poses.rst

+
+- This repository provides simulation + robot model + BT navigator source.
+- Full navigation servers (planner, controller, recoveries, lifecycle) come from Nav2.
+- ``slam:=True`` is used so ``slam_launch.py`` starts and provides map creation + localization in a
+  fresh simulation. With ``slam:=False``, Nav2 runs ``localization_launch.py`` and expects
+  ``map:=...`` to be provided.
+
+If you already have a map, prefer:
+
+.. code-block:: bash
+
+   ros2 launch nav2_bringup bringup_launch.py use_sim_time:=True slam:=False map:=/path/to/map.yaml autostart:=True
+
+- ``autostart:=True`` brings Nav2 lifecycle nodes up automatically so the
+  ``navigate_through_poses`` action server is available. See also
+  `example_nav_through_poses.py <https://github.com/ros-navigation/navigation2/blob/main/nav2_simple_commander/nav2_simple_commander/example_nav_through_poses.py>`_.
+


This is after the navigation + slam tutorials, so you don't need to explain this again, I don't think. Stay focused on the details of this tutorial and these concepts

SteveMacenski

A video at the end showing this at work would be nice (using Smac Planner so its continuous).

A good first go, but I'd recommend reading the other tutorials at the start / getting started and try to mirror those styling more. I really appreciate your time and effort though!

SteveMacenski · 2026-02-26T19:17:01Z

tutorials/docs/navigate_through_poses.rst

+Send a goal
+===========
+
+Method 1: Using terminal command line


Remove the CLI/C++ and only have the python version, lets keep this concise

SteveMacenski · 2026-02-26T19:17:45Z

tutorials/docs/navigate_through_poses.rst

+Version note (as of February 22, 2026):
+
+- Upstream ``navigation2`` branch heads differ in
+  ``nav2_simple_commander/nav2_simple_commander/robot_navigator.py``:
+  ``jazzy`` and ``kilted`` still show
+  ``self.info(f'Navigating with {len(goal_msg.poses)} goals....')``,
+  while Rolling development (``main``) shows
+  ``self.info(f'Navigating with {len(poses.goals)} goals....')``.
+- If your installed package still has ``len(goal_msg.poses)``, you can
+  temporarily comment out that log line or change it to ``len(poses.goals)``.
+- Some binary installs or local edits may already include this fix. Verify your
+  local ``robot_navigator.py`` before editing.
+


SteveMacenski · 2026-02-26T19:18:24Z

tutorials/docs/navigate_through_poses.rst

+Run:
+
+.. code-block:: bash
+
+   chmod +x ~/tb4_sim_ws/go_through_poses.py
+   source /opt/ros/kilted/setup.bash
+   source ~/tb4_sim_ws/install/setup.bash
+   python3 ~/tb4_sim_ws/go_through_poses.py
+


SteveMacenski · 2026-02-26T19:18:33Z

tutorials/docs/navigate_through_poses.rst

+Source code quick walkthrough
+=============================


I dont' think this needs to be another section

SteveMacenski · 2026-02-26T19:19:03Z

tutorials/docs/navigate_through_poses.rst

+    Verify your installed file first, for example:
+    ``rg -n "Navigating with .*goals" /opt/ros/$ROS_DISTRO/lib/python*/site-packages/nav2_simple_commander/robot_navigator.py``.
+    If your installed file still has ``len(goal_msg.poses)``, temporarily comment
+    out that log line or change it to ``len(poses.goals)``.


Remove -- lets keep this concise

SteveMacenski · 2026-02-26T19:19:36Z

tutorials/docs/navigate_through_poses.rst

+   from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
+
+
+   def make_pose(navigator: BasicNavigator, x: float, y: float, w: float = 1.0) -> PoseStamped:


You could just pass in the timestamp to use instead :-)

SteveMacenski · 2026-04-08T19:21:15Z

@FelixZF-Happy any update?

FelixZF-Happy · 2026-04-08T19:37:14Z

Hi Steve,
I’ll push a commit tonight incorporating all of your recommended deletions. I’ll revisit the remaining things based on your two suggestions after April 14th, and will complete them the following week. I am not busy then from the mid April. Just a few days to sort out some things urgent. But if someone want to continue to finish it this week. I am perfectly ok with that.

…ndex.

docs(tutorials): add Navigate Through Poses tutorial and improve its …

a91638f

…BT behavior-tree explanation Signed-off-by: FelixZF-Happy <felix.zifan.fei@gmail.com>

FelixZF-Happy force-pushed the nav_through_poses_tutorials branch from 8194d61 to a91638f Compare February 23, 2026 01:59

FelixZF-Happy marked this pull request as ready for review February 23, 2026 02:05

FelixZF-Happy changed the title ~~docs(tutorials): add Navigate Through Poses tutorial and improve its …~~ docs(tutorials): add Navigate Through Poses tutorial and improve its BT behavior-tree explanation Feb 23, 2026

SteveMacenski reviewed Feb 26, 2026

View reviewed changes

FelixZF-Happy added 2 commits April 8, 2026 23:27

Remove C++ codes and CLI and redundant contents.

cac511b

Put the navigate_through_poses doc in the correct order of tutorial i…

1cd63cc

…ndex.

		from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult


		def make_pose(navigator: BasicNavigator, x: float, y: float, w: float = 1.0) -> PoseStamped:

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FelixZF-Happy commented Feb 23, 2026

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SteveMacenski commented Apr 8, 2026

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