I’m using a RosBot 2.0 pro and have first updated it to use foxy, as this is the target of a project that the rosbot is acting as a stand-in for.
I’ve got the camera, LIDAR, joystick and so on all working nicely, but I’m having trouble integrating with the navigation2 stack because there is no odom frame.
Looking through the git repositories, it looks like this is being done with rosbot_ekf and topics published by the firmware, but these don’t seem to exist for ROS2.
I don’t see any topics for the IMU or the service for configuring the Core2 board.
Q. Is the IMU supposed to be enabled and publishing by default in the foxy firmware?
Q. Is rosbot_ekf still required?
And finally is the foxy firmware source available ?