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Robot Operating System Cookbook by Kumar Bipin

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2D nav goal

The 2D nav goal (G shortcut) allows the user to send a goal to the navigation system. The navigation stack waits on the topic with the name /move_base_simple/goal for a new goal which can be sent by using RViz windows.

We can click on the 2D Nav Goal button and select the map and the goal for our robot in the RViz window, as shown in the following screenshot:

  • Topic: move_base_simple/goal
  • Type: geometry_msgs/PoseStamped
2D nav goal

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