CLEARPATH Turtlebot4 User Manual page 130

ros2 launch turtlebot4_ignition_bringup ignition.launch.py
This will launch the simulation in the default
for the map. If you are using a different world you will need to create a map for it and pass that
in as a launch argument.
For example:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py
world:=classroom map:=classroom.yaml
Interacting with Nav2
In a new terminal, launch Rviz so that you can view the map and interact with navigation:
ros2 launch turtlebot4_viz view_robot.launch.py
At the top of the Rviz window is the toolbar. You will notice that there are three navigation tools
available to you.
depot world and will use the existing
Office Map shown in Rviz
Navigation tools in Rviz
nav:=true slam:=off localization:=true
nav:=true slam:=off localization:=true
depot.yaml file