Demonstration of ROS2 Nav2 on a real robot

Demonstration of how to setup and use the ROS2 Nav2 stack for autonomous navigation on a real robot. My demonstration robot "Thomas" is a lego robot with a Raspberry Pi 3B+ brain and a BrickPi3+ lego hardware interface. Thomas is running ROS2 Jazzy on Ubuntu 22.04. The Nav2 stack is running on a Desktop running ROS2 Jazzy on Ubuntu 22.04. Communication is over a home Wifi network. I cover some basic checks that the robot is configured correctly. Show how to use SLAM-Toolbox to create a map. I then demonstrate autonomous navigation in Nav2. See: https://github.com/jfrancis71/ros2_na... Errata: There is a couple of places in the git repo text shown in the video where describing transforms I have the parent/child relationship the wrong way round. This is now updated in the repo. 00:00 Checking robot configuration 13:55 Mapping the environment 24:48 Autonomous navigation