how to feed incoming LiDAR data into Ros nodes using nav2
Hello, I am completely new to Ros so I apologize in advance for the ignorance. I want to implement LiDAR based mapping in nav2. My first step is to feed incoming LiDAR data to a node in Nav2, but I’m not sure how to do that. A bit about the project... I have an RP LiDAR connected to a raspberry pi 4, running Ubuntu 22.04 (humble distro). The LiDAR and pi (and Arduino and other sensors) will be mounted on a small chassis which I 3d printed. The goal is to have a map generated on the pi so that the robot can autonomously navigate. I’ve read the nav2 documentation, which is super helpful for conceptually understanding navigation. But I still have no idea about what I actually need to DO to feed LiDAR data into nav2. Id really appreciate pointers for first steps.