How do I get the position of the Turtlebot at current time and check if that pose is exactly same to the pose in the plan provided by the planner?
I'm using the navigation stack to generate a global plan. Once the plan is generated, I can see the Turtlebot navigating in Gazebo. I need to know how to check the Turtlebot's current position in the map and if it is following the same plan generated by the planner. How can I do this by code.