Hello!

I am working on AGV robot project, which uses magnetic line to follow path and use magnetic markers to know its position in space. As it is very simple, it has lot of limits.

I got familiar with ROS2 NAV2 stack, and I was thinking to make some improvements regarding localization. I was thinking to use NAV2 for localization purpose. But as robot is moving only on the line and I have limited lidar space (0-180 angle) I would like to reduce search space for localization purpose, because in normal conditions if robot detect magnetic line, it is clear that there is no need to search the whole map - only map points, where is magnetic line. I hope you got an idea.

Do you have any suggestions, remarks, critics or opinion you want to share?

Is it possible to do in "easy" way or any other ideas how to achieve this?

I can use any ROS2 rosdistro.