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Behavior tree switch - #37

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Rishav-N merged 4 commits into
umdloop:mainfrom
Rishav-N:main
Feb 3, 2026
Merged

Rishav-N merged 4 commits into
umdloop:mainfrom
Rishav-N:main

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@Rishav-N

@Rishav-N Rishav-N commented Feb 3, 2026

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Takes nav selection from gui through /nav_mode topic and switches to the corresponding subtree.

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Rishav-N requested a review from mdurrani808 February 3, 2026 07:23
a-cires
a-cires previously requested changes Feb 3, 2026

@a-cires a-cires left a comment

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Minor formatting changes requested, remove comments, etc.

Comment thread src/subsystems/navigation/athena_planner/launch/nav2_nodes.launch.py Outdated
Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
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Rishav-N requested a review from a-cires February 3, 2026 17:51

@mdurrani808 mdurrani808 left a comment

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overall looks good, minor nits

Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
Comment thread src/subsystems/navigation/athena_planner/CMakeLists.txt Outdated
Comment thread src/subsystems/navigation/athena_planner/plugins/nav_selector_node.cpp Outdated
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Rishav-N dismissed a-cires’s stale review February 3, 2026 21:28

Mohammad re-reviewed

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Rishav-N merged commit 701dca6 into umdloop:main Feb 3, 2026
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mdurrani808 pushed a commit to mdurrani808/athena-code that referenced this pull request Feb 10, 2026
a-cires pushed a commit to a-cires/athena-code that referenced this pull request Apr 13, 2026
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3 participants