CLEARPATH Turtlebot4 User Manual page 136

navigator.undock()
navigator.startToPose(goal_pose)
Once the robot has reached the goal, we call rclpy.shutdown() to gracefully destroy the rclpy
context.
Watch navigation progress in Rviz
You can visualise the navigation process in Rviz by calling:
ros2 launch turtlebot4_viz view_robot.launch.py
Navigate to a pose
Navigate Through Poses
This example demonstrates the Navigate Through Poses behaviour tree. The Nav2 stack is
given a set of poses on the map and creates a path that goes through each pose in order until
the last pose is reached. The robot then attempts to drive along the path. This example is
demonstrated in the depot world of the TurtleBot 4 simulation.
To run this example, start the Ignition simulation:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py nav:=true slam:=off localization:=true
Once the simulation has started, open another terminal and run:
ros2 run turtlebot4_python_tutorials nav_through_poses