navigation2 default configuration

Monash-Connected-Autonomous-Vehicle / ESDA

Software stack for MCAVs annual IGVC entry

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navigation2 default configuration #18

Open AbBaSaMo opened 5 months ago

AnthonyZhOon commented 4 months ago

Using the simulation_launch.bash in ~/esda_igvc on hive 5 will now launch the gazebo sim + nav2 stack. Still need to figure out configuration for ESDA, stripping unnecessary parts

AnthonyZhOon commented 4 months ago

@AbBaSaMo What parts do you think are replaced by robot_localisation, I know the amcl_server node in nav2 manages sensor fusion with a particle filter and is probably replaced

AbBaSaMo commented 4 months ago

Hmm, not sure what it replaces per say but what it provides is:

sensor fusion as you had already mentioned
map -> odom -> base_link transform which I'm note sure if any other component of nav2 provides
is implicitly suggested to be used by the nav2 wiki if we want to use GPS based localization/follow GPS waypoints https://navigation.ros.org/tutorials/docs/navigation2_with_gps.html