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Nav2 integration with UWB-based localization #599

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opened 2026-03-14 14:55:23 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 14:55:23 -04:00
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Configure Nav2 stack to use the UWB-fused pose as its localization source. Create a nav2_params.yaml with: AMCL disabled (using UWB instead), costmap subscribing to /scan (RPLIDAR), controller using DWB with SaltyBot kinematics (differential drive, max 1.0 m/s). Launch file that brings up Nav2 planner + controller + costmap + BT navigator. Provide a simple waypoint-following action server that accepts a list of poses and navigates through them sequentially.

Configure Nav2 stack to use the UWB-fused pose as its localization source. Create a nav2_params.yaml with: AMCL disabled (using UWB instead), costmap subscribing to /scan (RPLIDAR), controller using DWB with SaltyBot kinematics (differential drive, max 1.0 m/s). Launch file that brings up Nav2 planner + controller + costmap + BT navigator. Provide a simple waypoint-following action server that accepts a list of poses and navigates through them sequentially.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#599
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