= Mini-Lab autonomous navigation =
== Overview ==
In this section we will present the autonomous navigation package of the Mini-Lab. After building the environment map, the robot will be capable of reaching navigations goals inside the map and avoid static and dynamic obstacles.

== Mapping Launch procedure ==
The navigation routine is capable of moving the robot to a specific coordinates in the map. The following command will launch all node needed for the navigation of Minilab.

{{{
$ roslaunch minilab_launch minilab_launch.launch
$ roslaunch minilab_launch minilab_state_publisher.launch
$ roslaunch minilab_navigation minilab_navigation_sim.launch
}}}
When Rviz start, the following configuration is already loaded:

{{{
~/catkin_ws/src/ minilab/minilab_navigation/config/rviz/navigation.rviz
}}}
The right position of the robot is set for "buvette" map .if you change the map, follow the next instructions:

We can see that Minilab in Gazebo and in Rviz are in a different position.

{{http://www.enovarobotics.eu/Wiki/images/f/ff/Screenshot_from_2015-05-06_14_51_59.png||height="265",width="387"}}

{{http://www.enovarobotics.eu/Wiki/images/6/6b/Screenshot_from_2015-05-06_14_52_36.png}}

Use the 2D pose Estimate Button to correct the position of the robot.

{{http://www.enovarobotics.eu/Wiki/images/c/ca/Screenshot_from_2015-05-06_14_52_47.png}} {{http://www.enovarobotics.eu/Wiki/images/7/78/Screenshot_from_2015-05-06_14_53_02.png}}

To move to a specific point use the 2D Nav Goal Button.

{{http://www.enovarobotics.eu/Wiki/images/a/ab/Screenshot_from_2015-05-06_14_54_22.png}}

The robot will create its own directory according to the map and obstacles. You should observe the movement of the robot’s model on Rviz and Gazebo.

== What Next? ==
Return to [[Mini-Lab/Tutorials|Mini-Lab Tutorials]]

== Contact us ==
For question about the software email us at: support@enovarobotics.com

For more information about the product please visit our website : https://enovarobotics.com

Or email us directly at contact@enovarobotics.com