Another post
@kamathsblog! In this blog, he published a detailed walkthrough on adding autonomous navigation to the
@huggingface LeKiwi robot using Nav2 and ROS 2, visualized entirely through Foxglove. LeKiwi is an open-source holonomic platform, and this post covers the full stack from sensor prerequisites to sending navigation goals on a live map.
The implementation includes LiDAR angular filtering with laser_filters to remove a pan-tilt camera obstruction, SLAM-based mapping with slam_toolbox in async mode, and a choice between two localization methods: slam_toolbox's built-in pose graph localization or AMCL with a particle filter. For navigation, Aditya went with an MPPI controller configured for an omnidirectional base and a SMAC 2D planner. He also wrote a small twist_switch_node to toggle cleanly between teleop and Nav2 velocity commands via a controller button — a neat practical touch.
It's a good reference if you're setting up Nav2 on a non-differential drive platform.
Blog post:
hubs.li/Q04lcrkk0