Support Cartographer and Navigation2 in Humble

[Ericsii]

Proposed change(s)

Add cartographer & navigation2 support.

Useful links (GitHub issues, forum threads, etc.)

#39

Types of change(s)

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Code refactor (non-breaking change which refactor the code)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Documentation update only
• Other (please describe)

Testing and Verification

Please describe the tests that you ran to verify your changes. Please also provide instructions and ROS packages as appropriate so we can reproduce the test environment.

ros2 launch mini_pupper_gazebo gazebo.launch.py
ros2 launch mini_pupper_navigation bringup.launch.py use_sim_time:=true

Test Configuration

Mini Pupper Version
Simulator

Raspberry Pi OS + ROS version
No

PC OS + ROS version
Ubuntu 22.04, ROS 2 Humble

Checklist

• I have checked to ensure there aren't other open Pull Requests for the same change.

Other comments

[Tiryoh]

Great! I was finally able to confirm that it works.

ScreenRecord-2023-02-20_01.10.18.mp4

The map will be updated during navigation, but this will be handled separately.

[Tiryoh]

This is not directly related to this Pull Request, but is noted for the record.
During testing, I repeatedly encountered errors starting Gazebo and Navigation nodes.

Gazebo error 1

Gazebo error 2

Navigation node launch error