Package Summary

The turtlebot_2dnav package

Contents

Overview

This package provides an application that allows a Turtlebot to navigate autonomously through a previously mapped environment.

The turtlebot_2dnav application can be run with the following command:

roslaunch turtlebot_2dnav turtlebot_2dnav.launch map_file:=/my_map.yaml

The navigation stack that is the core of the turtlebot_2dnav application can be commanded via rviz, ros2djs, or through code.

You can bring up rviz using turtlebot_2dnav configuration by running the following launch file:
```
roslaunch turtlebot_rviz_launchers view_navigation.launch --screen
```
- The application is now up and ready to receive goals.
  - Click the "2D Nav Goal" button in the rviz GUI window.
  - Left click on the map at the location of the goal and drag to set orientation.
Navigation and rviz tutorial: Provides additional information on using rviz with the navigation stack.

When this package is launched, you can use the library ros2djs to integrate a plugin based on JSON in a webpage and create a client that is able to send goals to the navigation stack.
In order to make ROS able to communicate with the webpage that uses ros2djs, we launch the web socket after the turtlebot_2dnav.
```
roslaunch rosbridge_server rosbridge_websocket.launch
```
Go to the webpage
- Double click in the map to send the goal to the stack navigation.

A tutorial on sending goals to the navigation stack with code can be found here.