Using Nav2 with external localization source
I would like to use Nav2 to navigate my robot from its current location to a waypoint or set of waypoints. I have an external localization computer that computes the exact location and provides the tf of map->odom->base_link to ros2. I launched the nav2_bringup with amcl and I can see my robot in RViz with no issues. I then tried to run the navigate_to_waypoint example from the nav2_simple_commander navigation package but I always get the following error:
[INFO] [1668174934.714896959] [basic_navigator]: Setting initial pose
[INFO] [1668174934.715584247] [basic_navigator]: Publishing Initial Pose
[INFO] [1668174934.716242568] [basic_navigator]: Waiting for amcl_pose to be received.
I also get the following in the nav2_bringup window:
[component_container_isolated-3] [INFO] [1668174656.886551258] [amcl]: Setting pose (1668174656.886551): 3.450 2.150 3.142
Is there anything I am missing. How can I use Nav2 to for navigation without using its internal localization.
I am using ROS2 Humble