GPS FOR AUTONOMOUS BOTS(outdoor navigation) # Localization without AMCL

1. empty map reqd.

2. make a new package in src before the CMakeList.txt

3. Make a package called my_tools.

4. make a launch director in my_tools

5. new file: start_map_server.launch

6. code snippet:

7. Disconnect AMCL. Retrieve the launch files

8. make robot launch file for gps : navwithgps.launch.py

9. movebase.launch.py also ![[Pasted image 20231109022505.png]]

10. convert gps data to odometry data

11. make new file

12. configure the robot_localization node for odometry, imu and gps in the yaml file

13. Launch file ros2 launch my_tools efk_file.launch.py

14. Give it a navigation goal with 2d pose goal in rviz

>git clone https://github.com/khanh93vn/beetle

>colcon build --symlink-install >sudo apt >sudo apt install -y ros-humble-twist-mux ros-humble-navigation2

similar ackermman style robot with outdoor naviagtion the navigation launch files is based on the steps given above

>ros2 launch beetle_navigation2 bringup.launch.py

fix any bridging issues if they come up

>ros2 launch beetle_navigation2 localization.launch..py map:=/home/vallari/Development/beetle/beetle_navigation2/maps/map.yaml use_sim_time:=true

replace the location of ur map yaml file in local system