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rskill-nav2-navigate-to-pose

Automate mobile base navigation to a target pose using Nav2's NavigateToPose action.

Updated Jul 5, 2026
Search Tags:#navigation#robotics#mobile base#Nav2#autonomous navigation
One-click install
npx skills add https://github.com/bensonlee5/openral --skill rskill-nav2-navigate-to-pose
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: rskill-nav2-navigate-to-pose
Source: https://github.com/bensonlee5/openral/tree/main/rskills/rskill-nav2-navigate-to-pose
Command: npx skills add https://github.com/bensonlee5/openral --skill rskill-nav2-navigate-to-pose

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill requires nav2_msgs, and includes scripts (resource) components.

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'}"

Frequently Asked Questions about rskill-nav2-navigate-to-pose

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

FAQPage Schema
How do I automate mobile base navigation to a target pose using Nav2?▼

Automate mobile base navigation to a target pose by dispatching a navigation goal through Nav2's NavigateToPose action. The Skill sends the goal and Nav2 publishes cmd_vel directly to the base controller, simplifying the integration process.

How do I send a navigation goal to a robot using OpenRAL?▼

Send a navigation goal to a robot using the OpenRAL runner by calling the execute_skill action with the rskill-nav2-navigate-to-pose ID and a prompt like 'go to map origin'. The Skill handles the Nav2 execution automatically.

Does this Nav2 navigation Skill support my robot's body_twist actuator?▼

Yes, this Nav2 navigation Skill is designed for robots with a planar base and a body_twist actuator. It leverages Nav2's result-only mode to publish cmd_vel directly to compatible base controllers.

What is Nav2 result-only mode for autonomous navigation?▼

Nav2 result-only mode is an integration approach where Nav2 publishes cmd_vel directly to the base controller. This simplifies autonomous navigation by bypassing complex feedback loops for precise location targeting.

Do I need nav2_msgs to use this autonomous navigation Skill?▼

Yes, you need the nav2_msgs dependency installed to use this autonomous navigation Skill. It relies on the Nav2 framework and its message definitions to execute the NavigateToPose action successfully.

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