rskill-nav2-navigate-to-pose

What problem does it solve?

This Skill automates the navigation of a mobile base to a specified target pose using the Nav2 framework, eliminating the need for manual control and reducing the complexity of robot navigation tasks.

Core Features & Use Cases

• Automated Navigation: Guides the mobile base to a target pose using Nav2's NavigateToPose action.
• Result-Only Mode: Nav2 publishes cmd_vel directly to the base controller, simplifying the integration process.
• Embodiment Support: Designed for robots with a planar base and a body_twist actuator.
• Use Case: Ideal for scenarios where a robot needs to autonomously navigate to a specific location, such as a delivery robot navigating to a drop-off point.

Quick Start

Dispatch the navigation goal using the OpenRAL runner with the following command:

ros2 action send_goal /openral/execute_skill openral_msgs/action/ExecuteSkill \
  "{rskill_id: 'OpenRAL/rskill-nav2-navigate-to-pose', deadline_s: 120.0, prompt: 'go to map origin'}"