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Put the cup on the floor ahead of the robot.
Use Rviz to send a navigation goal such that the straight trajectory to the goal went across the cup.
Verify that the robot does attempt to avoid collision with the object and corrects the trajectory around the cup.
6. Related Topics
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.
Launching SLAM application note on launching ROS2 navigation on iRobot Create3.
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