update 6.3.3-Navigation2.md

Author: X-lanni

MYAGV_JN_2023_CN/6-SDKDevelopment/6.3-ApplicationBaseROS2/6.3.3-Navigation2.md

@@ -40,12 +40,32 @@ ros2 launch myagv_navigation2 navigation2_active.launch.py
 
 在地图上选择一个要导航的目标位置。使用Nav2 Goal按钮发送目标位置和目标方向。
 
-![26](../../resources/6-SDKDevelopment/6.3/27.png)
+![27](../../resources/6-SDKDevelopment/6.3/27.png)
 
 Nav2就会规划路径并发送运动指令，完成导航。
 
 ![28](../../resources/6-SDKDevelopment/6.3/28.png)
 
+> 路径点跟随
+
+点击rviz2左下框的Waypoint/Nav Through Poses Mode，切换成路径点跟随模式
+
+![29](../../resources/6-SDKDevelopment/6.3/29.png)
+
+点击Nav2 Goal 发布两个导航点
+
+![30](../../resources/6-SDKDevelopment/6.3/30.png)
+
+![31](../../resources/6-SDKDevelopment/6.3/31.png)
+
+点击左下角的Start Waypoint Following，然后就会依次按顺序进行导航。
+
+![32](../../resources/6-SDKDevelopment/6.3/32.png)
+
+导航到第一个点位后，继续导航到第二点位
+
+![33](../../resources/6-SDKDevelopment/6.3/33.png)
+
 ## 更改起始导航地图
 
 在此之前，我们已经成功创建了空间地图，并获得了一组地图文件，即位于 ~/myagv_ros2/src/myagv_navigation2/map 目录下的 **map.pgm 和 map.yaml**，我们就是基于这两个地图文件的基础上进行导航的。下面将介绍如果基于其他地图导航。

MYAGV_JN_2023_CN/resources/6-SDKDevelopment/6.3/29.png

@@ -40,12 +40,32 @@ The 3D model is then moved to that location, and the lidar and map obstacles are
 
 Select a target location on the map to navigate to. Use the Nav2 Goal button to send the target location and target direction.
 
-![26](../../resources/6-SDKDevelopment/6.3/27.png)
+![27](../../resources/6-SDKDevelopment/6.3/27.png)
 
 Nav2 will plan the path and send motion instructions to complete the navigation.
 
 ![28](../../resources/6-SDKDevelopment/6.3/28.png)
 
+> Waypoint Following
+
+Click Waypoint/Nav Through Poses Mode in the lower left box of rviz2 to switch to path point following mode.
+
+![29](../../resources/6-SDKDevelopment/6.3/29.png)
+
+Click Nav2 Goal to publish two navigation points.
+
+![30](../../resources/6-SDKDevelopment/6.3/30.png)
+
+![31](../../resources/6-SDKDevelopment/6.3/31.png)
+
+Click Start Waypoint Following in the lower left corner, and then navigation will proceed in sequence.
+
+![32](../../resources/6-SDKDevelopment/6.3/32.png)
+
+After navigating to the first point, continue navigating to the second point.
+
+![33](../../resources/6-SDKDevelopment/6.3/33.png)
+
 ## Change the starting navigation map
 
 Before this, we have successfully created a spatial map and obtained a set of map files, namely **map.pgm** and map.yaml** in the ~/myagv_ros2/src/myagv_navigation2/map directory. We navigate based on these two map files. The following will introduce how to navigate based on other maps.