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## descriptive title for the tutorial
## title = Using local navigation (navigation in the odometry frame)
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## description = This tutorial shows you how to move the mobile base avoiding collisions and specifying navigation goals in the odometry frame. 
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<<TableOfContents(4)>>

=== Prerequisites ===
Startup [[cob_tutorials/Tutorials/Startup simulation|simulation]] with robot.

=== Local navigation ===
Start [[cob_navigation_local]] navigation
{{{
roslaunch cob_navigation_local 2dnav_ros_dwa.launch robot:=cob4-3
}}}

Start [[rviz]] visualisation
{{{
roslaunch cob_navigation_local rviz.launch
}}}
{{attachment:cob_tutorials/Tutorials/RvizLocal.png||width="600"}}

Use the "2D Nav Goal" button in rviz to specify a navigation goal and watch the robot moving. The robot should move towards your specified target pose avoiding obstacles which could be in the way. Detected obstacles will be highlighted in red and an inflated safety radius in blue.
Try to
 * move the robot into a corner using the laser scanners as a reference
 * move the robot in front of the coffee machine
 * move the robot out of the room (you will see that the robot can only plan to a target pose which is in the range of the costmap, so you will have to specify some intermediate goals)

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