Part4 Ros2 Navigation

[girishkumar.kannan]

Hi @ghassan11 ,

@ghassan11

What i understood is that i will create a python3 script that will sub to the topic /intial pose to perform the asked task but like i will just create the sub no need to any service server or anything else second thing is that we will just run the map_server and the rviz2 and the code i want to know the code we will run it as a python3 script or how and should we create a new package or i will use for example the localization package please i need someone to clear the points :

For the sake of God (or for the sake of yourself if you don’t believe in God), please use punctuation in your paragraph. There are things called phrases, sentences, full stop / period, comma, hyphen / dash in English. Make use of them. Please STOP making sentences with about 100 words without punctuation marks. I cannot understand where you are starting a sentence and where the sentence ends. If you continue this practice, I will flag you.
Clarity in communication is a MUST, when you are requesting help from others.

If you are running Rviz along with the Nav2 Stack, then you can do the following:

1. Subscribe to /clicked_point to get the point chosen on the Rviz map.
2. Subscribe to /goal_pose to get the goal pose from Rviz map.
3. Subscribe to /initialpose to get the robot’s starting pose only - this will not give the robot’s current pose.
4. Subscribe to /amcl_pose to get the robot’s current pose. You can also subscribe to /odom to get the current robot pose, but that will be unfiltered data.

Now to navigate to a clicked point on the RViz map, you need to:

1. Subscribe to /goal_pose to get the requested goal pose on Rviz.
2. Save the requested goal pose coordinates into the yaml file.
3. Use the action call to send the goal pose to the Nav2 Stack to make the robot navigate to the requested goal pose, using /navigate_to_pose action topic.

I hope this solves your doubt / issue / confusion.

Regards,
Girish