Tutorial 6 - Nav2 Navigation

• Nav2 Setup
  • How It Works
    • What is AMCL?
  • Prerequisites
  • Steps
    • 1️⃣ Start Bringup (Terminal 1)
    • 2️⃣ Launch Nav2 (Terminal 2)
    • 3️⃣ Verify Nav2 is Running (Terminal 3)
• Setup — Particle Filter (Updating Other Robots)
  • Step 1 — Back Up Student Maps
  • Step 2 — Pull the Latest Code and Initialize Submodules
  • Step 3 — Remove the Old Standalone Directories
  • Step 4 — Clean Build
  • Step 5 — Reinstall range_libc Python Extension
  • Step 6 — Restore Any Student Maps
• 2D Goal Pose Navigation
  • Steps
    • 1️⃣ Start Bringup (Terminal 1)
    • 2️⃣ Launch Nav2 (Terminal 2)
    • 3️⃣ Open RViz2
    • 4️⃣ Set Initial Pose
    • 5️⃣ Add Visualization Displays
    • 6️⃣ Send a 2D Goal Pose
    • 7️⃣ Watch the Car Navigate
  • Topics
• Navigate Through Poses
  • Steps
    • 1️⃣ Start Bringup (Terminal 1)
    • 2️⃣ Launch Nav2 (Terminal 2)
    • 3️⃣ Open RViz2
    • 4️⃣ Set Initial Pose
    • 5️⃣ Add Path Visualization
    • 6️⃣ Add the Nav2 Panel
    • 7️⃣ Add the Nav2 Goal Tool
    • 8️⃣ Enable Waypoint Mode
    • 9️⃣ Set Waypoints
    • 🔟 Start Navigation
    • 1️⃣1️⃣ Watch the Car Navigate
  • Topics
• Programmatic Waypoint Navigation
  • What is an Action Client?
  • How to Get Waypoint Coordinates
  • Steps
    • 1️⃣ Create the Package
    • 2️⃣ Create the Python Node
    • 3️⃣ Update setup.py
    • 4️⃣ Build and Source
    • 5️⃣ Start Bringup (Terminal 1)
    • 6️⃣ Launch Nav2 (Terminal 2)
    • 7️⃣ Open RViz2 and Set Initial Pose (Terminal 3)
    • 8️⃣ Run the Waypoint Navigation Client (Terminal 4)
    • 9️⃣ Watch the Car Navigate
  • Topics and Actions