NavigateToPose vs NavigateThroughPose
According to https://navigation.ros.org/configurat..., The document show that I need to configure two BT for both NavigateToPose and NavigateThroughPose.
My question is, how will the Nav2 package decide which BT tree to use during navigation? Or will it just choose the best BT at that moment?
Also, I am wondering how will I be able to send my goal to Nav2 package?
Thank you very much in advance!