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assisted-teleop

Blend manual teleop with autonomous obstacle avoidance in Nav2.

18|2|Updated Apr 20, 2026
Search Tags:#ros2#collision-avoidance#behavior-tree#nav2#costmap#assisted-teleop#teleoperation
One-click install
npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill assisted-teleop
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: assisted-teleop
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/assisted-teleop
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill assisted-teleop

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

AssistedTeleop enables a human operator to send manual velocity commands while the behavior server enforces collision avoidance by scaling down or zeroing commands that would drive the robot into obstacles. Unlike raw teleop, every command is projected forward against the costmap before execution, providing a smooth safety envelope.

Core Features & Use Cases

  • Collision-aware projection of operator commands using the local costmap
  • Configurable parameters (e.g., projection_time, simulation_time_step) for tuning safety vs. responsiveness
  • Use cases include remote teleoperation, recovery assistance, and maintenance positioning where collision safety is critical

Quick Start

Launch the AssistedTeleop behavior on the behavior server and publish operator commands to cmd_vel_teleop to begin assisted teleoperation.

Frequently Asked Questions about assisted-teleop

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How does assisted teleop work in ROS 2 Nav2?▼

You can implement safe teleoperation by launching the AssistedTeleop behavior on the Nav2 behavior server and publishing manual joystick or keyboard commands to the cmd_vel_teleop topic to begin collision-filtered navigation.

Can I tune collision avoidance responsiveness during remote teleoperation?▼

Unlike raw teleop which executes operator commands directly, Nav2 assisted teleop validates every manual velocity command against the local costmap. This ensures obstacle avoidance by scaling down unsafe inputs before they reach the cmd_vel output.

When should I use collision-aware teleoperation instead of autonomous navigation?▼

Use collision-aware teleoperation for remote operation, recovery assistance, and maintenance positioning scenarios. It allows an operator to manually control the robot while the behavior server enforces a collision safety envelope.

Does the AssistedTeleop behavior integrate with the Nav2 behavior tree?▼

The AssistedTeleop behavior integrates directly with the Nav2 behavior tree. It runs on the behavior server to filter operator commands published to cmd_vel_teleop and outputs safe velocities to cmd_vel.

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