nav2_outdoor_example

Minimal example for using Navigation 2 with GNSS/IMU Localization in (Ignition) Gazebo

About

• Runs with Gazebo Fortress/Garden
• Fuses GNSS/IMU as inputs for robot_localization
• Uses an empty (static) costmap for the Nav2 stack

Run

ros2 launch nav2_outdoor_example bringup.launch.py

Demo

With an odd robot (6d8d6623fb2547dd345699f12a448659679fbed5)

Screencast from 09-07-2023 03:05:45 PM.webm

With a "normal" robot (a07ce0a942af3f6f2443d4749ee46a04bd5a1918)

Screencast from 09-04-2023 11:26:07 PM.webm