CLEARPATH Turtlebot4 User Manual page 144

Follow the path
Now we can undock and follow the created path. In this example we use the Follow Waypoints
behaviour, but this can easily be replaced with Navigate Through Poses.
navigator.undock()
navigator.startFollowWaypoints(goal_pose)
navigator.dock()
We finish the example by docking the robot. This assumes that the last pose in the created path
is near the dock. If it is not, you can remove this action.
Creating a path with Rviz
Running this example will look something like this:
Creating a path and following it
Note
As the path is created, you will see the robot being placed at the position you click on. This is
normal and gets cleared up when the initial pose is set by the TurtleBot 4 Navigator.