What problem does it solve? Sending a robot through multiple sequential goals requires orchestrating repeated navigation calls, handling failures mid-route, and executing tasks at each stop. This Skill provides the configuration, parameters, and code patterns for the Nav2 waypoint follower so you can set up patrol routes, multi-room navigation, and inspection tasks without trial-and-error. ## Core Features & Use Cases - Waypoint Follower Configuration: YAML parameter reference covering loop_rate, stop_on_failure, action_server_result_timeout, and task executor plugins. - Task Executor Plugins: Built-in WaitAtWaypoint, PhotoAtWaypoint, and InputAtWaypoint plugins, plus a template for writing custom C++ executors via nav2_core::WaypointTaskExecutor. - Python and Behavior Tree Integration: Examples using BasicNavigator, the FollowWaypoints action client, and BT nodes including NavigateThroughPoses for smooth traversal. - Use Case: A patrol robot must visit four rooms in sequence, pause two seconds at each, and continue even if one room is blocked. Configure stop_on_failure to false, set a long action_server_result_timeout, and send the pose list with nav.followWaypoints(). ## Quick Start Ask the AI to configure the Nav2 waypoint follower with a WaitAtWaypoint pause and send a list of patrol waypoints from Python using BasicNavigator.
