To launch the robots in gazebo:

ros2 launch multibot spawn_robots.launch.xml

Load the Navigation Stack:

ros2 launch multibot navigation.xml

Send Goal via RViz

• Load the nav.rviz from rviz folder of the workspace
• Ensure the goal pose topic is set to the /bot_1/goal_pose in Tool Properties

Using Joystick

sudo apt install ros-$DISTRO-teleop-twist-joy

Then,

ros2 launch teleop_twist_joy teleop-launch.py joy_vel:='/bot_1/cmd_vel'

Run the Script

ros2 run multibot nav.py