What problem does it solve? Robots navigating multi-floor buildings need separate 2D occupancy grid maps per floor, but ROS 2 Nav2 has no built-in mechanism for switching maps, re-initializing AMCL localization, and clearing stale costmaps during floor transitions. This Skill provides the orchestration patterns and a working Floor Transition Manager to handle that gap. ## Core Features & Use Cases - Map Switching Strategies: Compares a single map server using the /map_server/load_map service against multiple preloaded namespaced map servers with a multiplexer. - Floor Transition Manager: A complete Python ROS 2 node that loads the new floor's map, clears global and local costmaps, and publishes a new initial pose with tuned covariance for AMCL convergence. - Floor Change Detection Guidance: Evaluates triggers such as buttons, barometric pressure, visual landmarks, elevator integration, and WiFi fingerprinting. - Use Case: A patrol robot finishes riding an elevator, publishes a floor change command, and the manager loads floor2's map, resets AMCL at the elevator exit pose, and resumes navigation to per-floor goals like bedrooms or kitchens. ## Quick Start Ask the AI to set up a floor transition manager that switches Nav2 maps and re-initializes AMCL when my robot changes floors.
