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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Setting up rviz for the navigation stack

It is good practice to visualize all possible data that the navigation stack does. In this section, we will show you the visualization topic that you must add to rviz to see the correct data sent by the navigation stack. Discussions on each visualization topic that the navigation stack publishes are given next.

The 2D pose estimate

The 2D pose estimate (P shortcut) allows the user to initialize the localization system used by the navigation stack by setting the pose of the robot in the world.

The navigation stack waits for the new pose of a new topic with the name initialpose. This topic is sent using the rviz windows where we previously changed the name of the topic.

You can see in the following screenshot ...

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