Navigation skills¶

This page lists system skills (ie, installed by default) related to 🧭 Navigation. You can directly use these skills in your tasks and mission controller.

/assisted_teleop_priority_action

Joystick Relay functionality implemented in the twist_mux package. Toggles the priority of the assisted teleop control over the robot’s movement.

For more information, check the twist_mux documentation.
/backup

Toggles the priority of the joystick control over the robot’s movement.
/compute_path_through_poses
/compute_path_to_pose

For more information, check the twist_mux documentation.
/detect_dock

Action Server responsible for detecting and localizing an specific dock station with respect to the robot. It can load multiple plugins for the detection of different dock stations using different sensors.

For more information, check the 📡 Target Detection.
/detect_target

Action Server responsible for detecting and localizing a Target with respect to the robot. It can load multiple plugins for the detection of different Targets using different sensors.

For more information, check the 📡 Target Detection.
/dock_robot

Docking Server performs the docking maneuver, ensuring that robots connect to docking stations safely and efficiently.

For more information, check the Docking Server Documentation.
/drive_on_heading

Nav2 Behavior Plugin which causes the robot to drive on the current heading by a specific displacement. It performs a linear translation by a given distance.

For more information on this Behavior, check the Nav2 DriveOnHeading Behavior documentation.
/follow_path

Nav2 Action Server implemented by the nav2_controller package. Executes a given Path using the Controller (Local Planner).
/follow_waypoints

Nav2 Action Server implemented by the nav2_waypoint_follower package. Reaches a list of Waypoints, eventually performing a custom Waypoint Action upon the Waypoint arrival.

For more information on this server, check the Nav2 Waypoint Follower documentation.
/go_and_dock

Docking Manager implements high-level docking functionalities, such as autonomous navigation and docking.

For more information, check the Docking Manager documentation.
/joy_priority_action

Joystick Relay functionality implemented in the twist_mux package. Toggles the priority of the joystick control over the robot’s movement.

For more information, check the twist_mux documentation.
/joy_turbo_angular_decrease

Joystick Relay functionality implemented in the twist_mux package. Decreases the maximum angular velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_angular_increase

Joystick Relay functionality implemented in the twist_mux package. Increases the maximum angular velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_decrease

Joystick Relay functionality implemented in the twist_mux package. Decreases the maximum linear velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_increase

Joystick Relay functionality implemented in the twist_mux package. Increases the maximum linear velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/joy_turbo_reset

Joystick Relay functionality implemented in the twist_mux package. Reset to default the maximum linear and angular velocity that the joystick can send to the robot.

For more information, check the twist_mux documentation.
/learn_dock

Docking Manager implements high-level docking functionalities such as learning the localization of docking stations by dynamically detecting station and storing them in a persistent database.

For more information, check the Docking Manager documentation.
/navigate_through_poses

Nav2 BT Navigator implemented by the nav2_bt_navigator package. Implements a navigation behavior from a starting point, through many intermediary hard pose constraints, to a final goal, using a specified Behavior Tree.

For more information on this Navigator, check the Nav2 NavigateThroughPoses documentation.
/navigate_through_waypoints

Nav2 BT Navigator implemented for PAL robots. It integrates the functionalities of the Nav2 Navigate Through Poses documentation (see /navigate_through_poses) with the ones of the Nav2 Waypoint Follower documentation (see /follow_waypoints). It uses a Behavior Tree to navigate from a starting point, through a series of waypoints, eventually executing a list of Waypoint Actions upon each Waypoint arrival.

For more information, check the 🚩 Waypoint Navigation.
/navigate_to_pose

Nav2 BT Navigator implemented by the nav2_bt_navigator package. It navigates from a starting point to a single point goal using a specified Behavior Tree.

For more information on this Navigator, check the Nav2 NavigateToPose documentation.
/navigate_to_target

Nav2 BT Navigator implemented for PAL robots. It uses the /detect_target action to detect and localize a Target with respect to the robot. Once a Target has been detected, it loads a Behavior Tree to navigate the robot to the detected Target.

For more information, check the 🎯 Target Navigation.
/set_configuration

PAL Nav2 Behavior Plugin that allows to dynamically change the configuration of any Navigation node.
/set_parameter

PAL Nav2 Behavior Plugin that allows to dynamically change a parameter for any Navigation node.
/spin

Nav2 Behavior Plugin implementing a configurable spin behavior. It makes the robot rotate by a certaing angle.

For more information on this Behavior, check the Nav2 Spin Behavior documentation.
/undock_robot

Docking Server performs undocking maneuvers, ensuring that robots disconnect from docking stations safely and efficiently.

For more information, check the Docking Server Documentation.
/wait

Nav2 Behavior Plugin implementing a configurable wait behavior. It makes the robot wait a certain amount of time.

For more information on this Behavior, check the Nav2 Wait Behavior documentation.