CLEARPATH Turtlebot4 User Manual page 141

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ros2 launch turtlebot4_viz view_robot.launch.py

Follow a set of Waypoints

Create Path

This example demonstrates how to create a navigation path in Rviz during runtime. It uses the

2D Pose Estimate

tool to pass the TurtleBot 4 Navigator a set of poses. Then we use the

Waypoints

behaviour to follow those poses. This example was run on a physical TurtleBot 4.

To run this example, start nav bringup on your PC or on the Raspberry Pi:

ros2 launch turtlebot4_navigation nav_bringup.launch.py slam:=off localization:=true

map:=office.yaml

Replace

office.yaml

with the map of your environment.

Once the navigation has started, open another terminal and run:

ros2 run turtlebot4_python_tutorials create_path

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