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([-3.3, 5.9], TurtleBot4Directions.NORTH))
goal_pose.append(navigator.getPoseStamped([2.1, 6.3], TurtleBot4Directions.EAST))
goal_pose.append(navigator.getPoseStamped([2.0, 1.0], TurtleBot4Directions.SOUTH))
goal_pose.append(navigator.getPoseStamped([-1.0, 0.0], TurtleBot4Directions.NORTH))
# Undock
navigator.undock()
# Follow Waypoints
navigator.startFollowWaypoints(goal_pose)
# Finished navigating, dock
navigator.dock()
rclpy.shutdown()
This example is very similar to Navigate Through Poses. The difference is that we are using
different poses as our waypoints, and that we use the startFollowWaypoints method to perform
our navigation behaviour.
Watch navigation progress in Rviz
You can visualise the navigation process in Rviz by calling:
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