Nav2 Autonomous Navigation: Maps to Goals

Goal

Configure Nav2 and AMCL, then send a goal from RViz or code.

Procedure

1. Load the saved map.
2. Configure localization and costmaps.
3. Set the initial pose in RViz.
4. Send conservative goals and tune only after safe motion is confirmed.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.