Nav2 Navigation Skill

Overview

Expert skill for configuring and customizing the ROS2 Nav2 navigation stack, including behavior trees, costmaps, planners, and controllers.

Capabilities

• Configure Nav2 navigation stack with all plugins
• Create behavior trees for navigation logic
• Set up costmap layers (static, obstacle, inflation, voxel)
• Configure planners (NavFn, Smac, ThetaStar)
• Set up controllers (DWB, Regulated Pure Pursuit, MPPI)
• Implement recovery behaviors (spin, backup, wait)
• Configure waypoint following and route planning
• Set up navigation server lifecycle management
• Implement custom BT nodes and plugins
• Debug navigation failures and path planning issues

Target Processes

• nav2-navigation-setup.js
• path-planning-algorithm.js
• dynamic-obstacle-avoidance.js
• autonomous-exploration.js

Dependencies

• Nav2 (Navigation2)
• BehaviorTree.CPP
• navigation2 plugins
• costmap_2d

Usage Context

This skill is invoked when processes require mobile robot navigation setup, costmap configuration, path planning, or behavior tree design for autonomous navigation.

Output Artifacts

• Nav2 parameter files (YAML)
• Behavior tree XML files
• Costmap configuration
• Planner and controller parameters
• Recovery behavior configurations
• Custom BT node implementations