First, close all open Terminals. Then, as in the SLAM process, let's proceed step by step to perform some navigation:
- Launch the robot model within the modeled environment. This step is the same as the first step in the SLAM process:
T1 $ roslaunch virtual_slam gopigo3_world.launch
- Set up the navigation algorithm and launch RViz. We will use AMCL, the most common choice for effective navigation. It is out of the scope of the book to describe such algorithm, but you are provided with useful references in the Further reading section at the end of the chapter.
In this step, we also provide the costmap that the robot built before. To do this, you just have to reference the .yaml map file ...
