5. Planner Module

5.1. Launch planner with Rviz

Run launch file to launch planner and Rviz.

roslaunch turtlebot3_navigation amcl_demo.launch

Change the global planner topic to /move_base/GlobalPlanner/plan.

Click the 2D Nav Goal button, then click on the desired destination on the map to generate a path. Beware that clicking on an obstacle is nonviable.

NOTE : Always run the localization module before running the planner module.