# Nav2 Navigation Skill

> Specialized skill for ROS2 Nav2 navigation stack configuration and behavior trees

- Skill: `majiayu000/nav2-navigation-skill` (Agent Skill, multi-file: 2 files)
- Install (CLI): `npx skillmds add majiayu000/nav2-navigation-skill`
- Raw SKILL.md: https://api.skillmd.com/api/skills/majiayu000/nav2-navigation-skill/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: majiayu000 (https://skillmd.com/u/majiayu000)
- Updated: 2026-09-09
- Page: https://skillmd.com/skills/majiayu000/nav2-navigation-skill

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# Nav2 Navigation Skill

## Overview

Expert skill for configuring and customizing the ROS2 Nav2 navigation stack, including behavior trees, costmaps, planners, and controllers.

## Capabilities

- Configure Nav2 navigation stack with all plugins
- Create behavior trees for navigation logic
- Set up costmap layers (static, obstacle, inflation, voxel)
- Configure planners (NavFn, Smac, ThetaStar)
- Set up controllers (DWB, Regulated Pure Pursuit, MPPI)
- Implement recovery behaviors (spin, backup, wait)
- Configure waypoint following and route planning
- Set up navigation server lifecycle management
- Implement custom BT nodes and plugins
- Debug navigation failures and path planning issues

## Target Processes

- nav2-navigation-setup.js
- path-planning-algorithm.js
- dynamic-obstacle-avoidance.js
- autonomous-exploration.js

## Dependencies

- Nav2 (Navigation2)
- BehaviorTree.CPP
- navigation2 plugins
- costmap_2d

## Usage Context

This skill is invoked when processes require mobile robot navigation setup, costmap configuration, path planning, or behavior tree design for autonomous navigation.

## Output Artifacts

- Nav2 parameter files (YAML)
- Behavior tree XML files
- Costmap configuration
- Planner and controller parameters
- Recovery behavior configurations
- Custom BT node implementations