ROS Programming: Building Powerful Robots

The current goal

This shows the goal pose that the navigation stack is attempting to achieve. You can see it as a red arrow, and it is displayed after you put in a new 2D nav goal. It can be used to find out the final position of the robot:

• Topic: current_goal
• Type: geometry_msgs/PoseStamped

These visualizations are all you need to see the navigation stack in rviz. With this, you can notice whether the robot is doing something strange. Now we are going to see a general image of the system. Run rqt_graph to see whether all the nodes are running and to see the relations between them.