How to Teach ROS 2 Multiple Waypoint Navigation with Fused Odometry

Learn how to use ROS 2 Nav2 with sensor-fused odometry to drive a robot through a series of waypoints for smoother, more reliable navigation — a complete step-by-step tutorial.

Robot Kit Used (including the environment): BotBox Robot Teaching Kit: https://www.theconstruct.ai/botbox-warehouse-lab/

Learning Points:

✅ Set up a multi-waypoint Nav2 mission using a Behavior Tree and an ordered list of poses.
✅ Fuse wheel encoder and laser odometry data to give the robot a cleaner sense of its own motion.
✅ Feed the fused motion estimate into the navigation stack without breaking the map-based localisation.
✅ Reuse the map and configuration from previous classes to focus on the new fusion step.


📁 *ROS project link: https://app.theconstruct.ai/l/749b877f/

Related courses:
* C++ for Robotics (Free): https://app.theconstruct.ai/courses/c-for-robotics-59/
* ROS2 Basics in 5 Days (C++): https://app.theconstruct.ai/courses/ros2-basics-in-5-days-c-325/
* ROS2 Navigation: https://app.theconstruct.ai/courses/ros2-navigation-humble-148/


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[For Robotics Teachers Open Class], a weekly series of videos by The Construct Robotics Institute, aims to make robotics education easier by helping teachers teach a wide range of robotics topics through hands-on practice.

Each session provides a ROS-based project (referred to as ROSJECTs 🦾 📁) for all attendees, including notebooks, code, and robot simulations. Led by ROS expert Desire, you'll see how robotics teaching and hands-on practice come together in real time.


We're excited to share this series with you! If you have questions or want to explore new topics, drop us a comment below.

👨‍🏫 Class Creator: Desire (ROS Tutor @The Construct Robotics Institute )



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