Hey yall,
My teammate and I (university students trying to make sense of this 
) have been working on a custom rig with a ZED2i at the very front which uses spatial mapping and positional tracking to make simple autonomous manuvers within an indoor quite featureless lab space. We have been trying to use the built in IMU on the Zed2i as our motors do not have encoders currently and are getting varied results and often the rig ends up wandering as opposed to finding waypoints. Running off a jetson orin nano, ubuntu 22.04, ros2 humble
Looking for a direction and/or lead to integrate ZED sdk → spatial mapping → positional tracking → into a NAV2 wrapped in ROS2. (i feel like we are missing something between connecting SM&PT with NAV2)
Please know we are still quite new to this and trying to achieve results in a short time frame.
Thanks in advance!