Rviz Nav2 Tools
The Rviz configuration used by the clearpath_viz view_navigation.launch.py file includes several
tools for interacting with Nav2. These tools require Rviz's Fixed Frame to be set to map. To
set the fixed frame, use the toolbar on the left and open Displays > Global Options > Fixed Frame.
Initially the map frame may not be connected to the rest of the TF Tree. This is normal, and
will be fixed when we use the 2D Pose Estimate tool. If map does not appear in the frame drop-down
simply type the word map into the box and press ENTER.
To select a Nav2 tool, simply click on the button on the toolbar at the top of Rviz's main window
2D Pose Estimate
See Localization.
Publish Point
The Publish Point tool allows you to click on the map and publish the XYZ coordinates of that
point to the clicked_point topic. In a terminal run the command
ros2 topic echo /a300_0000/clicked_point
Then select the Publish Point tool and click somewhere on the map. In the terminal you will see
the location you clicked as a geometry_msgs/msg/PointStamped message:
header:
stamp:
sec: 1747855824
nanosec: 867726206
frame_id: map
point:
x: -0.12474524974822998
y: 0.002330044750124216
z: -0.001434326171875
Nav2 Goal
The Nav2 Goal tool allows you to set a goal pose for the robot. The Nav2 stack will then plan a path to the goal pose and attempt to drive the robot there.
You will see a red path line appear, indicating the robot's planned path, and the robot will start to drive along this path.
