Learning Robotics using Python - Second Edition

Autonomous navigation of Chefbot in the hotel using Gazebo

To start the robot's autonomous navigation, we just need to command the target robot position on the map. There is a button in Rviz called 2D Nav Goal. We can click that button and click on a point on the map. You can now see an arrow indicating the position of the robot. When you give the target position in the map, you can see that the robot is planning a path from its current position to the target position. It will slowly move from its current position to the target position, avoiding all obstacles. The following screenshot shows the path planning and navigation of the robot to the target position. The color grid around the robot shows the local cost map of the robot, as well ...