CLEARPATH Turtlebot4 - Page 137

Code breakdown
The source code for this example is available here.
Lets take a look at the main function.
def main():
rclpy.init()
navigator = TurtleBot4Navigator()
# Start on dock
if not navigator.getDockedStatus():
navigator.info('Docking before intialising pose')
navigator.dock()
# Set initial pose
initial_pose = navigator.getPoseStamped([0.0, 0.0], TurtleBot4Directions.NORTH)
navigator.setInitialPose(initial_pose)
# Wait for Nav2
navigator.waitUntilNav2Active()
# Set goal poses
goal_pose = []
goal_pose.append(navigator.getPoseStamped([0.0, -1.0], TurtleBot4Directions.NORTH))
goal_pose.append(navigator.getPoseStamped([1.7, -1.0], TurtleBot4Directions.EAST))
goal_pose.append(navigator.getPoseStamped([1.6, -3.5], TurtleBot4Directions.NORTH))
goal_pose.append(navigator.getPoseStamped([6.75, -3.46],
TurtleBot4Directions.NORTH_WEST))
goal_pose.append(navigator.getPoseStamped([7.4, -1.0], TurtleBot4Directions.SOUTH))
goal_pose.append(navigator.getPoseStamped([-1.0, -1.0], TurtleBot4Directions.WEST))
# Undock
navigator.undock()
# Navigate through poses
navigator.startThroughPoses(goal_pose)
# Finished navigating, dock
navigator.dock()
rclpy.shutdown()