navigation

name	navigation
description	Hunter SE mobile base navigation using dora-nav pipeline
version	1.0.0
author	octos_inspection
always	true
robot_type	hunter_se
required_safety_tier	safe_motion
timeout_secs	120

Navigation Skill

Control the Hunter SE differential-drive mobile base through warehouse stations.

Robot: Hunter SE

• Drive: 4-wheel differential drive
• Wheelbase: 0.55m, wheel radius: 0.1m
• Path: 1065-waypoint global path along Y-axis (heading North)
• Speed control: torque-to-velocity mapping via dora-nav C++ pipeline

Stations

ID	Y Position	Description
A	10.0m	Station A — 3 colored cubes on table at x=2.5
B	18.0m	Station B — 3 colored cubes on table at x=2.5
home	0.28m	Path start (home position)

Tool Usage

Navigate to a station:

navigate_to(waypoint="A")

Check current position:

get_robot_state()

Get map with all stations:

get_map()

Emergency stop:

stop_base()

Read LiDAR status:

read_lidar()

Important Rules

• Path is one-way (North); navigate_to "home" uses stall detection (10s timeout)
• Station arrival threshold: 1.0m from target Y coordinate
• Navigation timeout: 120 seconds per station
• Robot follows dora-nav global path — cannot go to arbitrary coordinates