Navigation based on gps waypoints (ROS2)

Hello everyone, I am starting a project on gps navigation. The goal is to develop a robot able to navigate outside using gps coordinates. The robot will have to follow a list of gps coordinates. For the moment I'm working in simulation and I added a module in gazebo to publish the GPS position of the robot and I'm also using a Kalman filter (I have the location of the robot). My first idea was to use the nav2 package for autonomous navigation but I can't do it because it requires a map before.
Does anyone have an idea on how to do it?

Asked by klein_fy on 2023-04-29 05:15:19 UTC

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Answers

Nav2 does not require a map, though that is obviously the most common use-case of it.

There's actually a GPS waypoint follower PR open in Nav2 that is mostly just waiting on the polishing details to merge and have offered as a direct feature. Might be a good avenue if you were interested in contributing!

Asked by stevemacenski on 2023-04-29 18:05:55 UTC

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Thanks for the feedback, indeed I saw this PR on Nav2. If I can contribute it will be with pleasure. I have cloned and it is not functional

Asked by klein_fy on 2023-04-30 08:33:34 UTC