Using navigate_on_route_graph_w_recovery.xml as default BT XML for Nav2 Goal via RViz

[tombaby97]

Required Info:

• Operating System:
  • Ubuntu 24.04
• Computer:
  • Both Nvidia Jetson and Intel (Issue observed across platforms)
• ROS2 Version: Rolling (Nav2 Docker)
• Version or commit hash:
• DDS implementation:
  • default rmw_fastrtps
• Nav2 Package:
  • Nav2 Route Server and Nav2 BT Navigator
• Have you asked this on Robotics Stack Exchange?
  • No

Tuning / Configuration Goal

The goal is to enable the bt_navigator to utilize the navigate_on_route_graph_w_recovery.xml behavior tree as its default for Nav2 Goal actions, specifically when triggered from RViz's "Nav2 Goal" tool. Is it only possible now through nav2_simple_commander APIs?

What I've Tried

I have tried the above, but whenever I pass a goal, I get this error.

Steps to reproduce Nav2 Config sample:

Is this approach wrong ?

[SteveMacenski]

You can change in the params YAML file, you can request the BT XML path to use using the Action interface when calling the action (which is all the Python3 API does), you can use the Python3 API which just uses the Action interface that you could also call from C++.

For rviz, that is the "simple" UX so it uses the default BT XML. You can simply change it in the params yaml file. It looks to me like you're using that XML given I see logging about route server usage, so it sounds more likely the issue is with your application actually using the route server. Please debug more.