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robium-airobium-ai/robium/skills/navigation/SKILL.md

navigation

Skill93 starsChanged 3 months agoMITView on GitHub

Configure, extend, and debug Nav2 in an existing robot app; explain navigation concepts. New mapping/localization/navigation demos start with architect.

12 other projects use a version of this.

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Projects with it also use forms.

Other files people use alongside this one.

Files found in the same public projects as a version of this one, more often than they turn up anywhere else. Each project counts once, large collections count for less, and this file's own repository is left out.
  • YepAPISkill

    forms

    React Hook Form, Zod validation, and multi-step wizard flows.

    Also in 3 projects that use this

The file

We split this skill into the rules it gives an agent

8 rules. 0 are common, 8 are distinctive, and 0 are very specific to this project.

  • 0

    Common

    Most of the 9 edited versions we read keep these.

  • 8

    Distinctive

    This author's own choices. Worth a look.

  • 0

    Very specific

    Tied to their project's names, files or tools. Probably skip.

  • Common
  • Distinctive
  • Very specific
  1. Distinctive:

    Treat Nav2 as a navigation chain.

    line 8
  2. Distinctive:

    If that selection already happened, continue here.

    line 16
  3. Distinctive:

    Read the running system and its repository before proposing a new stack.

    line 18
  4. Distinctive:

    Start from the robot vendor's matching configuration.

    line 23
  5. Distinctive:

    If navigation is failing and the broken link is unclear, read FAILURES.md.

    line 44
  6. Distinctive:

    If the stack is TurtleBot3 on ROS 2 Jazzy with Gazebo Harmonic, read TURTLEBOT3-JAZZY-GAZEBO.md before changing its launch or parameters.

    line 46
  7. Distinctive:

    Verify the changed link and the user-visible outcome: the intended goal completes on the actual robot or representative simulation.

    line 58
  8. Distinctive:

    If the chain cannot be completed, name the first unsupported link and the evidence still needed.

    line 60

“Common” is measured: kept by at least 6 in 10 of the 9 edited versions of this file we could read. “Very specific” is our guess from the words: it names a file, a command, a setting or the project itself.

Keep what fits and drop the rest. Your version, ready for your agents.
Files
SKILL.md

Navigation

Treat Nav2 as a navigation chain. Find the first link whose evidence is wrong.

Start from the robot

  • For a new app or first demo, read architect before scaffolding or installing a navigation stack. It finds the saved apps checkout and selects a compatible baseline, even from outside the Robium workspace. If that selection already happened, continue here. Existing-app fixes and navigation explanations do not need onboarding.
  • Read the running system and its repository before proposing a new stack.
  • Identify the ROS distribution, installed Nav2 version, launch topology, and parameter files from the environment itself.
  • Note the robot's motion model, footprint, sensors, frames, command interface, and whether it is using SLAM or a saved map.
  • Start from the robot vendor's matching configuration. Change only what the application has outgrown.

Trace the chain

  • Environment: the installed packages, launch files, parameters, and running graph describe the same stack.
  • Pose: clock and transforms are fresh; one localizer owns map -> odom; odometry owns the path from odom to the robot base.
  • World: the map and live sensors reach both costmaps in frames they can transform.
  • Plan: the navigation action accepts the goal and the planner produces a path in the intended frame.
  • Control: the controller receives that path and can produce a valid motion command for the robot's kinematics and footprint.
  • Base: command topic, message type, smoothing or safety nodes, and base driver agree end to end.
  • Change the first broken link, then re-check what depends on it.

Go deeper only when needed

  • If navigation is failing and the broken link is unclear, read FAILURES.md.
  • If the stack is TurtleBot3 on ROS 2 Jazzy with Gazebo Harmonic, read TURTLEBOT3-JAZZY-GAZEBO.md before changing its launch or parameters.
  • For distribution-sensitive parameters, behavior trees, or custom Nav2 plugins, inspect the matching installed source and current official Nav2 documentation.
  • Reach for ROS 2 guidance when the evidence points to discovery, QoS, TF, or package wiring; Gazebo guidance for simulation, spawning, sensors, or bridges; and RViz2 or Foxglove guidance for viewer behavior.

Done

  • Verify the changed link and the user-visible outcome: the intended goal completes on the actual robot or representative simulation.
  • If the chain cannot be completed, name the first unsupported link and the evidence still needed.

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