7.1 Launch AMCL app
On the robot’s computer, open 2 new terminal windows.
On your development computer, run rviz:
Once rviz is open, import navigate.rviz by clicking File > Config and choose ~/catkin_ws/src/lino_visualize/rviz/navigate.rviz.
7.1 Set initial pose
- To localize the robot, click “2D Post Estimate”.
- Pinpoint on the map the approximate location of the robot and drag towards the robot’s heading.
7.2 Sending goals
- After localizing, click “2D Nav Goal”.
- Pinpoint your desired location on the map and drag towards the direction you want your robot to be heading at once it has reached its goal.