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Nav2 Manager

Nav2 navigation with latest-goal status and cancellation.

The nav2 manager exposes Nav2 navigation actions via the Nav2SingleActive gRPC service. It tracks the latest accepted goal per action kind and hides the ROS2 goal UUID from these commands. Status and cancellation use that latest goal, including Nav2 goals submitted through the actions manager. Both managers share one execution engine. Submitting a replacement does not automatically send cancellation for the previous goal.

Supported action kinds (CLI tokens):

  • nav → NavigateToPose
  • ntp → NavigateThroughPoses

Send a goal​

nimbus nav2 send nav '{
  "pose": {
    "header": { "frameId": "map" },
    "pose": {
      "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" },
      "pose": {
        "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" },
      "pose": {
        "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.