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{
"$schema": "https://mecha10.dev/schemas/behavior-composition-v1.json",
"name": "navigation",
"description": "Default point-to-point navigation with dynamic path planning and collision avoidance",
"root": {
"type": "sequence",
"name": "navigation_pipeline",
"children": [
{
"type": "node",
"node": "validate_goal",
"name": "goal_validator",
"config": {
"require_valid_position": true,
"check_reachability": true,
"timeout_sec": 1.0
}
},
{
"type": "parallel",
"name": "plan_and_localize",
"policy": "require_all",
"children": [
{
"type": "node",
"node": "compute_global_path",
"name": "global_planner",
"config_ref": "global_planning"
},
{
"type": "node",
"node": "update_localization",
"name": "localizer",
"config": {
"localization_method": "amcl",
"update_rate_hz": 30.0,
"initial_pose_required": true
}
}
]
},
{
"type": "selector",
"name": "execute_navigation",
"children": [
{
"type": "sequence",
"name": "adaptive_navigation",
"children": [
{
"type": "parallel",
"name": "navigate_with_safety",
"policy": "require_one",
"children": [
{
"type": "selector",
"name": "path_execution",
"children": [
{
"type": "sequence",
"name": "dynamic_obstacle_handling",
"children": [
{
"type": "node",
"node": "detect_dynamic_obstacles",
"name": "dynamic_detector",
"config": {
"tracking_enabled": true,
"predict_trajectories": true,
"prediction_horizon_sec": 2.0,
"min_velocity_threshold": 0.1
}
},
{
"type": "selector",
"name": "avoidance_or_replan",
"children": [
{
"type": "node",
"node": "compute_local_avoidance",
"name": "local_avoider",
"config_ref": "local_avoidance"
},
{
"type": "sequence",
"name": "replan_global",
"children": [
{
"type": "node",
"node": "invalidate_current_path",
"name": "path_invalidator",
"config": {
"clear_trajectory": true,
"reset_controller": false
}
},
{
"type": "node",
"node": "compute_global_path",
"name": "replanner",
"config_ref": "global_planning"
}
]
}
]
}
]
},
{
"type": "node",
"node": "execute_local_plan",
"name": "local_controller",
"config_ref": "local_control"
}
]
},
{
"type": "node",
"node": "monitor_safety_constraints",
"name": "safety_monitor",
"config": {
"max_linear_velocity": 1.5,
"max_angular_velocity": 2.0,
"min_obstacle_distance": 0.4,
"emergency_stop_distance": 0.25,
"monitor_rate_hz": 50.0
}
}
]
},
{
"type": "node",
"node": "check_goal_reached",
"name": "goal_checker",
"config": {
"xy_tolerance": 0.2,
"yaw_tolerance_deg": 15.0,
"require_stopped": true,
"max_velocity_for_success": 0.1
}
}
]
},
{
"type": "sequence",
"name": "recovery_behavior",
"children": [
{
"type": "node",
"node": "log_navigation_failure",
"name": "failure_logger",
"config": {
"log_level": "warn",
"include_telemetry": true,
"notify_operator": false
}
},
{
"type": "selector",
"name": "recovery_strategies",
"children": [
{
"type": "node",
"node": "clear_costmap",
"name": "costmap_clearer",
"config": {
"clear_radius": 1.0,
"keep_obstacles": true
}
},
{
"type": "node",
"node": "rotate_in_place",
"name": "rotation_recovery",
"config": {
"rotation_angle_deg": 360.0,
"rotation_speed": 0.5,
"clear_sensor_data": true
}
},
{
"type": "node",
"node": "backup_and_retry",
"name": "backup_recovery",
"config": {
"backup_distance": 0.3,
"backup_speed": 0.2,
"retry_after_backup": true
}
}
]
}
]
}
]
},
{
"type": "node",
"node": "publish_navigation_result",
"name": "result_publisher",
"config": {
"topic": "/navigation/result",
"include_path": false,
"include_stats": true
}
}
]
},
"configs": {
"global_planning": {
"planner_algorithm": "a_star",
"grid_resolution": 0.05,
"allow_unknown_space": false,
"use_dijkstra_heuristic": false,
"cost_neutral_threshold": 50,
"cost_lethal_threshold": 253,
"smooth_path": true,
"smoothing_iterations": 5
},
"local_avoidance": {
"algorithm": "dwa",
"max_vel_x": 1.2,
"min_vel_x": -0.3,
"max_vel_theta": 1.5,
"acc_lim_x": 2.0,
"acc_lim_theta": 3.0,
"sim_time": 1.5,
"sim_granularity": 0.025,
"vx_samples": 10,
"vtheta_samples": 20,
"path_distance_bias": 32.0,
"goal_distance_bias": 20.0,
"occdist_scale": 0.02
},
"local_control": {
"controller_frequency": 20.0,
"max_vel_x": 1.0,
"min_vel_x": 0.0,
"max_vel_theta": 1.2,
"min_in_place_vel_theta": 0.4,
"xy_goal_tolerance": 0.15,
"yaw_goal_tolerance": 0.2,
"latch_xy_goal_tolerance": false
}
}
}