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The application note assume the following preparation steps are concluded:

iRobot Create3 SLAM setupSetup

Setup Linux host Host for running Running Rviz

Put your robot on a level surface, make sure there are no dangling wires that could damage the robot or the NAVQ Plus board during the movements.

Launching SLAM/

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Navigation Stack

1. Open terminal window.

2. Log in to the Navqplus console

   Code Block
   ssh user@<navqplus-ip>

3. Make sure USB1 is in the host mode:

   Code Block
   lsusb

4. Start the navigation applications, leave the window open with the application running:

   Code Block
   /opt/ros/humble/share/create3_slam_launch/scripts/start_slam -b

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Perform the steps below on your Desktop PC:

1. Restart chrony service:

   Code Block
   sudo systemctl restart chrony

2. Set up cyclonedds as default RMW:

   Code Block
   export RMW_IMPLEMENTATION="rmw_cyclonedds_cpp"

3. Start rviz:

   Code Block
   /opt/ros/humble/share/create3_slam_launch/scripts/start_rviz

Setting

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Movement Goals

In the rviz window use the 2D Goal Pose toolbar button and then click to the location you want the robot to move to.