- Launch the simulation environment with Kobuki:
ros2 launch easynav_playground_kobuki playground_kobuki.launch.py- In another terminal, launch the navigation stack with the generated map:
ros2 launch nav2_playground navigation_launch.py map:=<path-to-generated-yaml>For example:
ros2 launch nav2_playground navigation_launch.py map:=/home/user/my_map.yaml- In RViz, use the "2D Pose Estimate" tool to set the robot's initial pose.
- Use the "Nav2 Goal" tool to send navigation goals to the robot.
