Nav2 Navigation Skill Overview Expert skill for configuring and customizing the ROS2 Nav2 navigation stack, including behavior trees, costmaps, planners, and controllers. Capabilities - Configure Nav2 navigation stack with all plugins - Create behavior trees for navigation logic - Set up costmap layers (static, obstacle, inflation, voxel) - Configure planners (NavFn, Smac, ThetaStar) - Set up controllers (DWB, Regulated Pure Pursuit, MPPI) - Implement recovery behaviors (spin, backup, wait) - Configure waypoint following and route planning - Set up navigation server lifecycle management - Imp…