Manual

ros2 launch turtlebot4_ignition_bringup ignition.launch.py nav:=true slam:=off localization:=true
This will launch the simulation in the default depot world and will use the existing depot.yaml file
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 nav:=true slam:=off localization:=true
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
Office Map shown in Rviz
At the top of the Rviz window is the toolbar. You will notice that there are three navigation tools
available to you.
Navigation tools in Rviz