Navigation and Path Planning
Launch the Nav2 stack, check planner topics, send a navigation goal and monitor planning performance.
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Start autonomous navigation and send a goal
Launch the Nav2 stack, verify planner topics, send a goal and inspect planning outputs.
With a map and localization running, you can enable autonomous navigation via Nav2. This module covers launching the navigation stack, checking for planning topics, sending a goal pose and monitoring the planner.
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ros2 launch common_platform navigation_launch.py
bash
ros2 topic list | grep -E '(goal|plan|path|cmd_vel)'
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ros2 run nav2_util navigation_goal --ros-args -p x:=2.0 -p y:=1.0 -p yaw:=0.0
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ros2 topic hz /${ROS_NAME}/plan
bash
ros2 topic echo /${ROS_NAME}/navigate_to_pose/_action/statusFor deeper debugging, inspect costmaps and planner outputs:
bash
ros2 topic echo /${ROS_NAME}/plan
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ros2 topic echo /${ROS_NAME}/global_costmap/costmap
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ros2 topic echo /${ROS_NAME}/local_costmap/costmap