GNSS / PNT
Simulates noisy GNSS measurements and validates navigation performance against true path data.
ROS2 / GNSS / Linux Robotics
ROS2 GNSS RC Car Navigation
A software-only ROS2 Jazzy simulation of an RC-car-style robot running an autonomous waypoint mission with noisy GNSS and IMU data.
2025Robotics systems demoROS2 JazzyPythonGNSS/PNTRViz2
Mission Planning
Runs autonomous waypoint following with active target selection, route state, and mission telemetry.
Observability
Shows transforms, sensor noise, estimated path, true path, obstacles, and post-run validation plots.
Project Notes
The details that mattered.
RViz2 system view
The demo opens into a visual robotics scene with the RC car body, numbered waypoints, planned route, active target, GNSS and IMU frames, obstacle overlays, and mission status text.
Telemetry-first workflow
The system records CSV and JSON telemetry so each run can be inspected after the mission. That makes it useful as both a robotics demo and a validation artifact.
Stack
Ubuntu 24.04 VM, ROS2 Jazzy, Python/rclpy, standard ROS messages, tf2_ros, RViz2, Matplotlib, and a local dashboard layer.
Videos