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.
/backup(documentation) Nav2 Behavior Plugin implementing a configurable Back up behavior. It allows backward movements to recover the robot when is stuck.For more information on this Behavior, check the Nav2 BackUp Behavior documentation.
/compute_path_through_poses(documentation) Nav2 Action Server implemented by the nav2_planner package. Calculates a Path through a series of poses./compute_path_to_pose(documentation) Nav2 Action Server implemented by the nav2_planner package. Calculates a Path to reach a certain pose./detect_target(documentation) 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.
/drive_on_heading(documentation) 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(documentation) Nav2 Action Server implemented by the nav2_controller package. Executes a given Path using the Controller (Local Planner)./follow_waypoints(documentation) 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.
/joy_priority_action(documentation) 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(documentation) 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(documentation) 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(documentation) 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(documentation) 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(documentation) 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.
/navigate_through_poses(documentation) 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(documentation) 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(documentation) 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(documentation) 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(documentation) PAL Nav2 Behavior Plugin that allows to dynamically change the configuration of any Navigation node./set_parameter(documentation) PAL Nav2 Behavior Plugin that allows to dynamically change a parameter for any Navigation node./spin(documentation) 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.
/wait(documentation) 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.