  We demonstrate room-temperature stabilization of dipolar magnetic skyrmions
with diameters in the range of $100$ nm in a single ultrathin layer of the
Heusler alloy Co$_2$FeAl (CFA) under moderate magnetic fields. Current-induced
skyrmion dynamics in microwires is studied with a scanning Nitrogen-Vacancy
magnetometer operating in the photoluminescence quenching mode. We first
demonstrate skyrmion nucleation by spin-orbit torque and show that its
efficiency can be significantly improved using tilted magnetic fields, an
effect which is not specific to Heusler alloys and could be advantageous for
future skyrmion-based devices. We then show that current-induced skyrmion
motion remains limited by strong pinning effects, even though CFA is a magnetic
material with a low magnetic damping parameter.
