Tutorial: Adding end-to-end custom navigation capabilities to Nav2

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#870
Does this PR contain AI-generated software?	(Yes, the rewritten from .md .rst tutorial file )

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Description of contribution in a few bullet points

Tutorial is about:

• Making a custom Navigator to handle behavior trees
• Building a new custom Servers with custom interfaces
• Writing Behavior Tree nodes
• Writing the Behavior Trees itself
• Connecting all parts into a working system

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@SteveMacenski
I have added number of small details as you have suggested. Please check it, and if it would be easier for you to review - here is link to .md version which fully corresponds to new .rst file in plugin_tutorials

Also I have added gif in overview section and demo+explanation video at step 7

[SteveMacenski]

Note to self: Do this in my styling

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can I help somehow?

[SteveMacenski]

i think something I need to put together with my graphics packages once we're ready to merge

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ok, I will change small fixes now and basically its done :)

[SteveMacenski]

Let me know when I should check again. Please leave the graphics comment open as a reminder to myself

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Let me know when I should check again. Please leave the graphics comment open as a reminder to myself

Please check again :)

[SteveMacenski]

Asked for some outside feedback: https://www.linkedin.com/posts/steve-macenski-41a985101_nav2-share-7453121552893542401-L8Bf?utm_source=share&utm_medium=member_desktop&rcm=ACoAABnzaBYBjQwl9dCmBDFWicTZDTYTVfoqy2I

Otherwise other than the open item I just commented on about the on_XYZ() seems good to me :-)

[mini-1235]

It is a bit unclear to me what the "Goal msg" refers to from SetBlandeState and SetCameraYaw

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@SteveMacenski said that he will do it himself, so I guess the image will change as well as descriptions in the picture

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@mini-1235 Is there anything else you think its better to change/add/remove? Maybe the structure or some section are unclear?

[SteveMacenski]

Comments are getting lost in the sea of review remarks, I think this is the last thing I asked for that needs to be done:

You mean something like this?

BT::NodeStatus SetBladeState::on_success()
   {
     return result_.result->success ? BT::NodeStatus::SUCCESS : BT::NodeStatus::FAILURE;
   }

Yes :-) (both in the tutorial and in the source code)

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@SteveMacenski
updated, both in guide and code

[SteveMacenski]

I was hoping to get 1x more review from a new person before merging... someone that isn't a maintainer or understands Nav2 super well so that we can an outside perspective on what's missing or unclear

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I asked in large robotics group if anyone can do a review, hopefully someone will pick it up soon

[EricoMeger]

Overall I think this tutorial is good. I hadn't had the chance to implement my own BT node yet, and this gave me a good understanding of how to approach it.

One minor thing: it might be worth showing a CMakelists example for nav2_operations_bt_nodes, since that package involves plugin registration which can be a bit cumbersome. I don't really have a strong opinion on this, just a thought.

[NOTMOVETON]

One minor thing: it might be worth showing a CMakelists example for nav2_operations_bt_nodes, since that package involves plugin registration which can be a bit cumbersome. I don't really have a strong opinion on this, just a thought.

It has been excluded on purpose, as said in guide more info could be found in related package.

See conversation here

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@SteveMacenski Hi! Is there something else I can do?

[SteveMacenski]

Sorry, I've been behind and a bit sick. This LGTM. Please open a nav2 tutorials PR with the code that matches the tutorial for users to follow through as a full example.

Then I can update the graphic and merge