Changes made to adjust to the new VRX simualtion + general improvements:
The lidar reflects off the water in the new simulation, so ground filtering is slightly more complex. Points must be first converted to the odom frame so that the current pitch and roll of the USV is accounted for when filtering.
The waypoints navigation node now also has an orientation tolerance in addition to distance tolerance.
There is now a non-Nav2 rviz launch
The sim_time argument no longer needs to passed in (only the usv arg)
Changes made to adjust to the new VRX simualtion + general improvements: