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Nav2 Manager

Nav2 actions (single active goal per action type)

The nav2 manager exposes Nav2 navigation actions via the Nav2SingleActive gRPC service.
It maintains a single active goal per action kind and hides the internal ROS 2 goal_id from the user.

Supported action kinds (CLI tokens):

  • nav → NavigateToPose
  • ntp → NavigateThroughPoses

Send a goal​

nimbus nav2 send nav '{
  "pose": {
    "header": { "frameId": "map" },
    "position":   { "x": -3.5, "y": 0.8, "z": 0.0 },
    "orientation": { "x": 0.0, "y": 0.0, "z": 0.7071068, "w": 0.7071068 }
  },
  "behaviorTree": ""
}'
nimbus nav2 send ntp '{
  "poses": [
    {
      "header": { "frameId": "map" },
      "position":   { "x": -3.5, "y": 0.8, "z": 0.0 },
      "orientation": { "x": 0.0, "y": 0.0, "z": 0.7071068, "w": 0.7071068 }
    },
    {
      "header": { "frameId": "map" },
      "position":   { "x": -2.8, "y": 1.1, "z": 0.0 },
      "orientation": { "x": 0.0, "y": 0.0, "z": 0.7071068, "w": 0.7071068 }
    }
  ],
  "behaviorTree": ""
}'

Get status​

nimbus nav2 status nav
nimbus nav2 status ntp

Cancel goal​

nimbus nav2 cancel nav
nimbus nav2 cancel ntp

Watch status​

nimbus nav2 watch nav
nimbus nav2 watch ntp

The <kind> parameter is used for CLI consistency and autocomplete;
the server currently streams all Nav2 status updates.

Last updated: June 2026 (UTC)