Send Nav2 goals

Goal: localize a Nav2 robot and send it to a point on the map, like the 2D Pose Estimate and Nav2 Goal tools of RViz.

1. Connect to the robot and open an RViz tab with the fixed frame map and the Map display.

2. Tap Pose, then touch the robot’s real position on the map and drag towards where it is facing. This publishes /initialpose; AMCL updates the robot’s position (add a PoseWithCovariance display on /amcl_pose to see it, or PoseArray on /particlecloud).

3. Tap Goal, then touch the destination and drag to choose the final heading. This publishes /goal_pose and Nav2 starts moving; the Path display on /plan shows the route.

If your robot uses other topics (for example with a namespace), change them from the menu, under Goal / Pose topics…. If Nav2’s servers aren’t active, open a Lifecycle tab to check their state.