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