Hello,

I am currently working on implementing outdoor waypoint navigation using ROS2 Foxy, Lanelet2, and Nav2.

The overall system configuration I have in mind is as follows:

Global Planning: Using Lanelet2 for global planning, extracting waypoints based on a specific origin in the UTM coordinate system.

Local Planning: Utilizing Nav2 for local planning.

Localization: Employing GPS and IMU data with an Extended Kalman Filter (EKF).

The goal is to achieve simple waypoint following. I have successfully obtained waypoints in the UTM coordinate system using Lanelet2.

Regarding the use of Nav2, I'm uncertain about which nodes to utilize. Most of them seem to be designed for indoor robot navigation based on SLAM and map usage. Is there a way to use Nav2 for outdoor navigation? If not, would it be better to implement waypoint following from scratch?

I would appreciate any advice you can provide.