Looking for Guidance on GPS Waypoint Navigation Using the Clearpath Jackal

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To start with, I suggest to go over the Jackal tutorials: https://www.clearpathrobotics.com/ass... http://www.clearpathrobotics.com/asse...

Clearpath also offers a GPS Navigation package: https://clearpathrobotics.com/gps-way...

Finally for GPS Waypoint navigation I recommend Nick Charron Husky tutorial that can be adapted to Jackal: https://github.com/nickcharron/waypoi....

The outdoor navigation package offers:

• gps_waypoint to read the waypoint file, convert waypoints to points in the map frame and then send the goals to move_base

  • gps_waypoint_continuous1 and gps_waypoint_continuous2 for continuous navigation between waypoints using two seperate controllers

  • collect_gps_waypoint to allow the user to drive the robot around and collect their own waypoints

  • calibrate_heading to set the heading of the robot at startup and fix issues with poor magnetometer data

  • plot_gps_waypoints to save raw data from the GPS for plotting purposes

  • gps_waypoint_mapping to combine waypoint navigation with Mandala Robotics' 3D mapping software for autonomous 3D mapping