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nav-slam

Configure, tune, and debug SLAM and Nav2 navigation in ROS 2.

Updated Mar 18, 2026
Search Tags:#controller#ros2#planner#slam#behavior-trees#nav2#costmap
One-click install
npx skills add https://github.com/robotics-playground/skills --skill nav-slam
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: nav-slam
Source: https://github.com/robotics-playground/skills/tree/main/skills/nav-slam
Command: npx skills add https://github.com/robotics-playground/skills --skill nav-slam

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill includes references (resource) components.

What problem does it solve?

Expert guidance for integrating SLAM (slam_toolbox) with ROS 2 Nav2 navigation, helping developers configure, tune, and debug mapping, localization, and path-planning workflows.

Core Features & Use Cases

  • Comprehensive SLAM guidance, including slam_toolbox setup, online/localization modes, map saving/loading, and loop closure.
  • In-depth Nav2 architecture coverage: costmaps, planners, controllers, behavior trees, and recovery strategies, plus debugging workflows.
  • Practical recipes for configuration and tuning in confined spaces and general environments, with troubleshooting guidance for common navigation failures.

Quick Start

Install Nav2 and slam_toolbox, configure a two-tier costmap setup, load a map, and run NavigateToPose with a waypoint sequence.

Frequently Asked Questions about nav-slam

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

FAQPage Schema
How do I configure slam_toolbox for online mapping and localization in ROS 2?▼

To configure slam_toolbox for ROS 2 SLAM, select the appropriate online synchronous, asynchronous, or localization mode, tune the loop closure parameters, and manage the map saving and loading procedures for accurate localization workflows.

What is the best way to tune Nav2 costmaps for obstacle avoidance in confined spaces?▼

The best way to tune Nav2 costmaps for confined spaces is to configure a two-tier costmap setup, carefully adjust the inflation layer parameters, and modify the resolution to ensure reliable obstacle avoidance and accurate path planning.

How do behavior trees work for Nav2 navigation recovery strategies?▼

Behavior trees in Nav2 orchestrate recovery strategies by executing hierarchical decision nodes that trigger specific recovery actions when planners or controllers fail, ensuring robust navigation workflow management.

Why does my Nav2 controller fail to follow the planned path?▼

Nav2 controller path-following failures frequently stem from misconfigured costmap inflation layers, incompatible controller plugin parameters, or tight obstacle proximity, requiring parameter tuning and workflow debugging.

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