Adding nav2_gps_waypoint_follower_demo for humble

[peakyquest]

No description provided.

[SteveMacenski]

The humble branch of Nav2 doesn't support GPS waypoint following, so I don't think this PR is mergable (?). How have you shown this to work?

[peakyquest]

Thanks for reviewing, and sorry for the delay in updating this PR — I didn’t get time to work on it earlier.

1. TurtleBot Waffle GPS Model

• Added a dedicated meshes directory to prevent missing model issues.
• Incorporated sonoma_raceway into the models directory.
• Applied minor updates to the launch file.

ros2 launch nav2_gps_waypoint_follower_demo gazebo_gps_world.launch.py

---

2. Robot Localization

• Added a configuration file and launch file for the robot_localization package.
• Establishes the correct map → odom → base_link transform tree.

ros2 launch nav2_gps_waypoint_follower_demo dual_ekf_navsat.launch.py

---

3. Waypoint Follower Demo

• Verified that the demo runs successfully.

ros2 launch nav2_gps_waypoint_follower_demo gps_waypoint_follower.launch.py use_rviz:=True

• In RViz2, select “2D Nav Goal” → the robot generates and follows the path.

---

4. Next Steps for Waypoint Missions

• Python demo files did not work as expected.
• Potential improvement:
  1. Save a home point position.
  2. Convert to UTM coordinates (x, y origin).
  3. Convert target positions into UTM.
  4. Calculate relative differences.
  5. Publish to /navigate_to_pose for path creation and execution.

NOTE:
The proposed improvement for supporting waypoint missions has not yet been committed. If you believe this addition would be valuable for merging, I can include the corresponding code in this PR.