# Navigation2 behavior tree plugins
nav2 Version : foxy-devel

## Action
1. back_up_action

    [IN]baskup_dist 
    [IN]backup_speed

3. clear_costmap_service

    [IN]service_name

5. compute_path_to_pose_action

    [IN]goal
    [IN]planner_id
    [OUT]path

7. follow_path_action

    [IN]controller_id
    [IN]path

9. navigate_to_pose_action

    [IN]orientation
    [IN]position

7. reinitialize_global_localization_service

    [IN]service_name
    [IN]server_timeout

9. spin_action

    [IN]spin_dist

11. truncate_path_action

    [IN]input_path
    [IN]distance
    [OUT]output_path

13. wait_action

    [IN]wait_duration

## Condition
1. distance_traveled_condition
2. goal_reached_condition
3. goal_updated_condition
4. initial_pose_received_condition
5. is_battery_low_condition
6. is_stuck_condition
7. time_expired_condition
8. transform_available_condition
## Control
1. pipeline_sequence
2. recovery_node
3. round_robin_node
## Decorator
1. distance_controller
2. goal_updater_node
3. rate_controller
4. speed_controller