What problem does it solve? Raw teleoperation gives operators no collision protection, so a moment of inattention can drive a robot into obstacles. This Skill configures the Nav2 AssistedTeleop behavior, which projects every manual velocity command forward against the local costmap and scales down or zeroes commands that would cause a collision. ## Core Features & Use Cases - Collision-filtered manual control: Subscribes to a separate cmd_vel_teleop topic, projects the robot footprint forward by projection_time seconds, and publishes a safe, scaled command to cmd_vel. - Behavior Tree integration: Provides BT XML patterns for manual override modes and time-limited teleop using Timeout decorators, plus full behavior_server YAML configuration. - Tuning and debugging guidance: Includes a projection_time tuning table (0.5s/1.0s/2.0s trade-offs) and ros2 CLI commands for diagnosing zeroed commands and costmap issues. - Use Case: An operator monitoring a robot remotely takes manual control via joystick to investigate an alert; AssistedTeleop automatically slows the robot as it approaches walls, then autonomous navigation resumes after a 30-second timeout. ## Quick Start Configure the Nav2 behavior server with the assisted_teleop plugin and route my joystick commands through cmd_vel_teleop so collisions are automatically prevented.
