GPS Localization

[PumpkinClouds]

Since the Rover will be navigating a vast area, it would make no sense to store and create some sort of custom map that the pi5 will supposedly fully understand, rather the rover should localize itself using RTK GPS (highly accurate gps system down to a cm). doing so will give context to the rovers surroundings. the next step to localization would be to determine heading through the following ways:

1. using an IMU with a magnetometer to deduct the rovers heading

2. using a second gps sensor in some sort of positional lock with the other such that heading can be easily calculated.

A con to the first idea is that the large current through the motors might throw off its heading and would need some sort of calibration.

Learn more at the official docs: https://docs.nav2.org/tutorials/docs/navigation2_with_gps.html#overview

[PumpkinClouds]

Keep in mind: navsat_transform_node has moved to a standard wherein all heading data is assumed to start with its zero point facing east. If your IMU does not conform to this standard and instead reports zero when facing north, you can still use the yaw_offset parameter to correct this. In this case, the value for yaw_offset would be (\pi / 2) (approximately (1.5707963)).