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The application note assumes that the necessary hardware and software setup is done. See RelatedTopics Related Topics for AN on how to perform the setup.
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Open the Panels->Add new panel menu and select Navigation 2. The Navigation 2 panel is displayed in Rviz window.
In the Displays view press Add, in the By Topic tab select /waypoints (Marker Array) to add Marker Array to the Displays view.
On the Rviz menu toolbar press the + sign and select nav2_rviz-plugins. A new button, Nav2 Goal, appears on the toolbar.
In the Navigation 2 panel press Startup Waypoint/Nav through Poses Mode.
Press Nav2 Goal on the toolbar and click on the map in Rviz window to specify a way point. wp_1 appears on the map.
Repeat step 5 to specify more way points.
To make the robot follow way points starting from wp_1 press Start Waypoint Following in Navigation2.
To remove the current way points in the Displays view clear the Marker Array checkbox.
To set up a new root for the robot using waypoints feature, check the Marker Array checkbox and start from Step 4.
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Introduction to ROS2 Navigation and SLAM quick introduction to the ROS2 navigation concepts
iRobot Create3 SLAM Setup application note for preparing iRobot Create3 for ROS2 navigation and SLAM
PMD Flexx2 SLAM Setup application note form mounting the PMD ToF camera.
Setup Linux Host for Running Rviz application note for setting up a Linux host for controlling and monitoring robot navigation
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