Manual

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