nav2listed

# nav2 The nav-vertical core tool skill for robium: bringup, the BT Navigator and behavior trees, costmap layers, the planner/controller/smoother servers, localization (AMCL and slam_toolbox), waypoint following, and tuning a running stack. Nav2 config in this skill targets ROS 2 **Jazzy Jalisco** (LTS, supported to May 2029) rather than **Lyrical Luth**, the current overall LTS the `ros2` skill defaults to — Nav2 has not yet shipped binary packages for Lyrical (tracked in `ros-navigation/navigation2#6123` as of 2026-07). Gazebo Harmonic is Jazzy's paired simulator. Re-check that gap before starting a new project, and treat picking the distro itself as `architect`'s call, not this skill's — load this skill once `architect` has routed you to the navigation vertical. ## When to use this skill - Any autonomous mobile-robot navigation task: bringing up Nav2, tuning costmaps or the planner/controller, adding or debugging a behavior tree, choosing between AMCL and slam_toolbox, following waypoints. - The trigger phrases in the description: 'navigation', 'nav2', 'costmap', 'path planning', "robot won't move to goal", 'localization', 'SLAM', 'AMCL', 'waypoint'. - A robot receives a goal and never moves, or moves erratically — start here (see `references/common-failures.md`), not in application logic. - Cross-references — go to the sibling skill instead when the question is: - ROS 2 substrate this stack runs on (workspaces, colcon, packages, nodes, QoS, launch synta