CLEARPATH Turtlebot4 User Manual page 138

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This example starts the same as

navigate to

pose. We initialse the node, make sure the robot is

docked, and set the initial pose. Then we wait for Nav2 to become active.

Set goal poses

The next step is to create a list of

PoseStamped

messages which represent the poses that the

robot needs to drive through.

goal_pose = []

goal_pose.append(navigator.getPoseStamped([0.0, -1.0], TurtleBot4Directions.NORTH))

goal_pose.append(navigator.getPoseStamped([1.7, -1.0], TurtleBot4Directions.EAST))

goal_pose.append(navigator.getPoseStamped([1.6, -3.5], TurtleBot4Directions.NORTH))

goal_pose.append(navigator.getPoseStamped([6.75, -3.46],

TurtleBot4Directions.NORTH_WEST))

goal_pose.append(navigator.getPoseStamped([7.4, -1.0], TurtleBot4Directions.SOUTH))

goal_pose.append(navigator.getPoseStamped([-1.0, -1.0], TurtleBot4Directions.WEST))

Navigate through the poses

Now we can undock the robot and begin navigating through each point. Once the robot has

reached the final pose, it will then return to the dock.

navigator.undock()

navigator.startThroughPoses(goal_pose)

navigator.dock()

Watch navigation progress in Rviz

You can visualise the navigation process in Rviz by calling:

ros2 launch turtlebot4_viz view_robot.launch.py

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