> For the complete documentation index, see [llms.txt](https://docs.hello-robot.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/navigation/navigating_with_stretch.md).

# Navigating with Stretch

Use this workflow to create a 2D map and navigate with ROS 2 Nav2.

### **Phase 1: Generating a Map**

**1. Home the robot:** Home the joints before any mobile operation.

```
stretch_robot_home
```

**2. Stow the robot:** Stow the arm so it stays within the base footprint.

```
stretch_robot_stow
```

{% hint style="info" %}
*Alternatively, you can either use the gamepad to move the wrist and arm, or hit runstop and manually move it.* *(Images: Homed position on the left; stowed position on the right).*
{% endhint %}

<div><figure><img src="/files/I1z9lzSRrBPgKIqaIuuz" alt=""><figcaption></figcaption></figure> <figure><img src="/files/kVuQ9UsXG6ncc9IlaSqX" alt=""><figcaption></figcaption></figure></div>

**3. Launch the mapping node:** Start the offline mapping sequence in a terminal.ros2 launch&#x20;

```
stretch_nav2 offline_mapping.launch.py
```

Optional: Enable the camera view if you want a live feed while driving.

```
stretch_camera_show --opencv --right
```

{% file src="/files/asskn3R7300r0BVq20go" %}

{% hint style="info" %}
**Mapping tips**

* Move slowly, especially during turns. This gives the sensors time to capture clean data.
* Watch the laser scan in RViz. If the red scan stops aligning with obstacles, the map is drifting.
  {% endhint %}

**4. Start teleoperation:** In a second terminal, start the gamepad node and drive the robot through the area you want to map. See the [gamepad teleop primer](https://hello-robot.gitbook.io/hello-robot-docs/tcZROZbQzCb20tjbv5qq/stretch4-body-repo/teleoperation/primer_gamepad_teleop) for setup and controls.

```
stretch_gamepad_teleop
```

**5. Save the map:** After you cover the full area, leave the mapping node running. Open a new terminal and save the map to your fleet directory. Replace `<map_name>` with a name such as `hq_upstairs`.

```
ros2 run nav2_map_server map_saver_cli -f ${HELLO_FLEET_PATH}/maps/<map_name>
```

### Phase 2: Navigating the Generated Map

With the map saved, you can now navigate autonomously.

1\. **Launch navigation**: Start Nav2 and pass the YAML file for the map you just created.

```
ros2 launch stretch_nav2 navigation_mppi.launch.py map:=${HELLO_FLEET_PATH}/maps/<map_name>.yaml
```

{% file src="/files/aekOMQj1ytrITJBvcKyR" %}

2\. **Set the initial pose**: You can set the robot pose in RViz2 with **2D Pose Estimate** (like the video). You can also set it in the config under the AMCL section.

```yaml
set_initial_pose: true
initial_pose:
  x: 0.06
  y: -0.12
  z: 0.0
  yaw: 0.12
```

3\. **Send a goal**: You can use **Nav2 Goal** in RViz2 (like the video), or send a goal from the terminal. Make sure the position is inside the map bounds and clear of obstacles.

```
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header: {frame_id: 'map'}, pose: {position: {x: 1.0, y: 1.0, z: 0.0}, orientation: {w: 1.0}}}}"
```

{% hint style="info" %}
Tip: Find coordinates in RViz2To find exact coordinates, open a terminal and run `ros2 topic echo /clicked_point`. With that running, use the **Publish Point tool** in RViz2 to click anywhere on the map. The X and Y position data for that location will immediately show in your terminal.. Make sure the robot is localized first!
{% endhint %}

### Troubleshooting and Debugging

1. **Isolate node errors:** If navigation is failing at startup,add `use_composition:=false` to the navigation launch command. This starts nodes outside a shared container, which makes errors easier to spot.
2. **Remote operation:** If you use a remote desktop session, plug in a dummy HDMI adapter so the display server starts correctly.


---

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