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並前往https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html

Implement actions as Behavior Trees - IntelligentRoboticsLab

You can find the PDDL domain of this tutorial in this file. ... For real Nav2 and Simulation ros2 run plansys2_bt_example nav2_sim_node # For fake Nav2 node.

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