Navigate through a set of poses
Follow Waypoints
This example demonstrates how to follow waypoints. The Nav2 stack is given a set of waypoints
on the map and creates a path that goes through each waypoint in order until the last waypoint
is reached. The robot then attempts to drive along the path. The difference between this
example and Navigating Through Poses is that when following waypoints the robot will plan to
reach each waypoint individually, rather than planning to reach the last pose by driving through
the other poses. This example is demonstrated in the
depot
world of the TurtleBot 4 simulation.
To run this example, start the Ignition simulation:
ros2 launch turtlebot4_ignition_bringup ignition.launch.py nav:=
true
slam:=off localization:=
true
Once the simulation has started, open another terminal and run:
ros2 run turtlebot4_python_tutorials follow_waypoints
Code breakdown
The source code for this example is available
Lets take a look at the main function.
Summary of Contents for TurtleBot 4 Lite
Page 50: ...Running the Light Ring test...
Page 61: ...Adding Displays in Rviz2...
Page 63: ...Camera image displayed in Rviz2...
Page 82: ...TurtleBot 4 Lite with a NED2 arm...
Page 147: ...Color camera diagnostics...
