Navigate Through Poses — Nav2 waypoint skill

Marketplace package for the navigate_through_poses capability (external_ros_node → Nav2 NavigateThroughPoses).

npx agenticros skills install @agenticros/navigate-through-poses
# or marketplace ref: chrismatthieu/navigate-through-poses
# or: "skillRefs": ["chrismatthieu/navigate-through-poses"]

AgenticROS does not launch Nav2. Bring up Nav2 on the robot (or sim), then install this skill. The CLI auto-restarts the OpenClaw gateway unless you pass --no-restart.

Mission example

{
  "mission": {
    "name": "patrol loop",
    "steps": [
      {
        "id": "patrol",
        "capability": "navigate_through_poses",
        "inputs": {
          "poses": [
            { "x": 1.0, "y": 0.0, "yaw": 0 },
            { "x": 1.0, "y": 2.0, "yaw": 1.57 },
            { "x": 0.0, "y": 0.0, "yaw": 3.14 }
          ]
        },
        "retry": { "max_attempts": 2, "backoff_ms": 500 }
      }
    ]
  }
}

Or pass an explicit Nav2 goal: { "goal": { "poses": [ ... ] } }.

Requirements

• Nav2 advertising navigate_through_poses (namespaced under the robot namespace when applicable)
• Transport that supports actions (local DDS, rosbridge, or WebRTC)
• @agenticros/core ≥ 0.8.1 for the poses[] → goal helper (explicit goal works on older cores)