Nav2 Cartographer localization

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Hi again,

I'm using ros2 and cartographer + turlebot3 burger with a kinect camera. I can create 2d and 3d maps. I now want to use nav2 for robot navigation. Because of the kinect camera i don't want to use amcl for the robot pose and use cartographer localization instead. I found this feature request on github describing my problem.

My question is how to archive that. I added the cartographer in localization mode to the navigation launch file of the turtlebot. It is starting and is posting a /map. But what must be adjusted in the nav2_bringup_launch.py launchfile. Remove amcl for sure but what else ?

Edit1: This is working in ROS1 out of the box btw. Because Move_Base is launched with cartographer.

Thanks :)