nav2-navigation-skill

# 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