Nav2 for autonomous navigation by following GPS waypoints

[TheHiberNate]

We get GPS waypoints from SW and they get sent to raspi.
Need raspi to accept those GPS waypoints + use GPS module + IMU data with NAV2.

• You provide GPS waypoints (lat, lon).
• navsat_transform_node (from robot_localization) converts them into map frame coordinates (x, y, meters).
• Uses your robot’s initial GPS position as the reference origin.
• Converts all future GPS positions + waypoints into local ENU coordinates.
• Nav2 Waypoint Follower takes those converted waypoints (in map frame) and feeds them into the global planner.
• Nav2 does its normal thing: global plan → controller → velocity commands → motors.