Manual

SLAM vs Localization 129
SLAM 129
Localization 129
Nav2 129
Launching navigation 129
Interacting with Nav2 130
2D Pose Estimate 130
Publish Point 131
Nav2 Goal 132
TurtleBot 4 Navigator 133
Navigate to Pose 133
Code breakdown 133
Initialise the node 134
Dock the robot 134
Set the initial pose 134
Wait for Nav2 135
Set the goal pose 135
Undock the robot and go to the goal pose 135
Watch navigation progress in Rviz 136
Navigate Through Poses 136
Code breakdown 136
Set goal poses 138
Navigate through the poses 138
Watch navigation progress in Rviz 138
Follow Waypoints 139
Code breakdown 139
Watch navigation progress in Rviz 140
Create Path 141
Code breakdown 142
Create your path 143
Set initial pose and clear costmaps 143
Follow the path 143
Creating a path with Rviz 144
Diagnostics 145
ROS2 Tests 147
FAQ 149
Common issues with the Raspberry Pi 4B 150
1. Access point is not visible 150
Check that the Raspberry Pi is powered 150
Check for obstructions 150