.. _Navigation:

Navigation
==========

By default, the robot should be in Navigation mode.
To switch into navigation mode, use the `Pilot Mode > Navigation` menu.

For autonomous motion, the robot must also be in Automatic motion mode:

.. image:: ../core/share/icons/hicolor/48x48/emblems/pilot-hat.png
	:width: 48

If needed initialize the localization first via the `Pose Estimate Tool`, see below.


Set Goal Pose
-------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-goal-pose.png
	:width: 48

``Left Click`` and hold to define a new goal pose.
``Right Click`` and hold to define a new goal pose without using the `RoadMap`.


Set Goal Station
----------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-goal-station.png
	:width: 48

``Left Click`` on a map station to set a new goal station.
``Right Click`` on a map station to set a new goal station without using the `RoadMap`.


Cancel Goal
-----------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-stop.png
	:width: 48

Will abort the current goal and stop immediately.


Pose Estimate Tool
------------------

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-pose-estimate.png
	:width: 48

``Left Click`` and hold to define a pose estimate (initialize localization).
``Rigth Click`` and hold to shift the pose estimate in XY direction (initialize localization).


Set Pose Tool
-------------

In simulation mode it is possible to "teleport" the platform via:

.. image:: ../core/share/icons/hicolor/48x48/actions/pilot-set-pose.png
	:width: 48

``Left Click`` and hold to define a pose.