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.

`navigate_to_pose`¶

Interface: /skill/navigate_to_pose
Message type: navigation_skills/action/NavigateToPose

Make the robot autonomously navigate toward the desired pose.

See 🥅 Goal Navigation for details.

Input parameters¶

pose geometry_msgs/PoseStamped, required

The coordinates of the pose that the robot must reach.
behavior_tree string

The name or the full path to an XML file with a behavior tree defining the logic that the robot must use while autonomously navigate towards its goal.
meta.priority integer, default: 128

Between 0 and 255. Higher value means that this skill invokation will have higher priority.

Output fields¶

navigation_result empty

The result of the navigation action. Information about the navigation execution are available in the action feedback.

Quick snippets¶

Call the skill from the command-line¶

$ ros2 action send_goal /skill/navigate_to_pose navigation_skills/action/NavigateToPose # then press Tab to complete the message prototype

How to use in your code¶

See code samples for the corresponding /skill/navigate_to_pose: code samples

You can call this skill from QML using the following code snippet. See Building a touchscreen interface via ROS and QML to learn more.

import Ros 2.0

// ...
NavigateToPoseSkill {
    id: mySkill

    onResult: {
        console.log("Skill result: " + result);
    }
    onFeedback: {
        console.log("Skill feedback: " + feedback);
    }
}

// Call the skill
mySkill.navigate_to_pose(pose);

`navigate_to_waypoint`¶

Interface: /skill/navigate_to_waypoint
Message type: navigation_skills/action/NavigateToWaypoint

Make the robot autonomously navigate toward the desired waypoint.

See 🚩 Waypoint Navigation for details.

Input parameters¶

waypoint_name string, required

The name of the Waypoint that the robot must reach.
meta.priority integer, default: 128

Between 0 and 255. Higher value means that this skill invokation will have higher priority.

Output fields¶

navigation_result empty

The result of the navigation action. Information about the navigation execution are available in the action feedback.

Quick snippets¶

Call the skill from the command-line¶

$ ros2 action send_goal /skill/navigate_to_waypoint navigation_skills/action/NavigateToWaypoint # then press Tab to complete the message prototype

How to use in your code¶

See code samples for the corresponding /skill/navigate_to_waypoint: code samples

You can call this skill from QML using the following code snippet. See Building a touchscreen interface via ROS and QML to learn more.

import Ros 2.0

// ...
NavigateToWaypointSkill {
    id: mySkill

    onResult: {
        console.log("Skill result: " + result);
    }
    onFeedback: {
        console.log("Skill feedback: " + feedback);
    }
}

// Call the skill
mySkill.navigate_to_waypoint(waypoint_name);

`navigate_to_zone`¶

Interface: /skill/navigate_to_zone
Message type: navigation_skills/action/NavigateToZone

Make the robot autonomously navigate toward the desired zone.

See 🏛️ Environmental Annotations for details.

Input parameters¶

zone_name string, required

The name of the Zone that the robot must reach.
succeed_on_zone_entry boolean

Whether the navigation action should be considered successful when the robot enters the zone or when it reaches a specific pose.
meta.priority integer, default: 128

Between 0 and 255. Higher value means that this skill invokation will have higher priority.

Output fields¶

navigation_result empty

The result of the navigation action. Information about the navigation execution are available in the action feedback.

Quick snippets¶

Call the skill from the command-line¶

$ ros2 action send_goal /skill/navigate_to_zone navigation_skills/action/NavigateToZone # then press Tab to complete the message prototype

How to use in your code¶

See code samples for the corresponding /skill/navigate_to_zone: code samples

You can call this skill from QML using the following code snippet. See Building a touchscreen interface via ROS and QML to learn more.

import Ros 2.0

// ...
NavigateToZoneSkill {
    id: mySkill

    onResult: {
        console.log("Skill result: " + result);
    }
    onFeedback: {
        console.log("Skill feedback: " + feedback);
    }
}

// Call the skill
mySkill.navigate_to_zone(zone_name);

Navigation skills¶

navigate_to_pose¶

Input parameters¶

Output fields¶

Quick snippets¶

How to use in your code¶

navigate_to_waypoint¶

Input parameters¶

Output fields¶

Quick snippets¶

How to use in your code¶

navigate_to_zone¶

Input parameters¶

Output fields¶

Quick snippets¶

How to use in your code¶

`navigate_to_pose`¶

`navigate_to_waypoint`¶

`navigate_to_zone`¶