Movement.md

 ## Autonomous movement of the Turtlebot  
+Now that the map is generated, first start the robot “see section 4.5”, then load the map generated in the previous section and use the RVIZ to point out where the robot should go:  
+`roslaunch turtlebot_navigation amcl_demo.launch map_file:=/map/location/my_map.yaml`  
+When starting up, the TurtleBot does not know where it is. To provide it its approximate location on the map:  
+⦁	Click the "2D Pose Estimate" button  
+⦁	Click on the map where the TurtleBot approximately is and drag in the direction the TurtleBot is pointing.  
+You will see a collection of arrows which are hypotheses of the position of the TurtleBot. The laser scan should line up approximately with the walls in the map. If things don't line up well you can repeat the procedure.  
+With the TurtleBot localized, it can then autonomously plan through the environment.  
+⦁	To send a goal:  
+⦁	Click the "2D Nav Goal" button  
+Click on the map where you want the TurtleBot to drive and drag in the direction the TurtleBot should be pointing at the end.  
+This can fail if the path or goal is blocked.  
+If you want to stop the robot before it reaches it's goal, send it a goal at it's current [location--](https://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map)  
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