The 2D nav goal (G shortcut) allows the user to send a goal to the navigation by setting a desired pose for the robot to achieve. The navigation stack waits for a new goal with /move_base_simple/goal as the topic name; for this reason, you must change the topic's name in the rviz windows in Tool Properties in the 2D Nav Goal menu. The new name that you must put in this textbox is /move_base_simple/goal. In the next window, you can see how to use it. Click on the 2D Nav Goal button, and select the map and the goal for your robot. You can select the x and y position and the end orientation for the robot:

• Topic: move_base_simple/goal
• Type: geometry_msgs/PoseStamped