Gps navigation Tutorial update

Signed-off-by: Stevedan Omodolor <[email protected]>

Author: stevedanomodolor

nav2_gps_waypoint_follower_demo/config/dual_ekf_navsat_params.yaml

@@ -23,7 +23,7 @@ ekf_filter_node_odom:
     odom0_differential: false
     odom0_relative: false
 
-    imu0: imu
+    imu0: imu/data
     imu0_config: [false, false, false,
                   false,  false,  true,
                   false, false, false,
@@ -85,7 +85,7 @@ ekf_filter_node_map:
     odom1_differential: false
     odom1_relative: false
 
-    imu0: imu
+    imu0: imu/data
     imu0_config: [false, false, false,
                   false,  false,  true,
                   false, false, false,
@@ -121,7 +121,7 @@ navsat_transform:
     magnetic_declination_radians: 0.0
     yaw_offset: 0.0
     zero_altitude: true
-    broadcast_utm_transform: true
+    broadcast_cartesian_transform: true
     publish_filtered_gps: true
     use_odometry_yaw: true
-    wait_for_datum: false 
+    wait_for_datum: false

nav2_gps_waypoint_follower_demo/config/gps_wpf_demo.mvc

@@ -22,9 +22,12 @@ displays:
       visible: true
       collapsed: false
       custom_sources:
-        []
+        - base_url: https://tiles.stadiamaps.com/tiles/alidade_satellite/{level}/{x}/{y}.png?api_key=d82ece0f-e8ff-4d1d-b61c-4724c3a6e09d
+          max_zoom: 15
+          name: Stadia (alidade_satellite)
+          type: wmts
       bing_api_key: ""
-      source: Bing Maps (terrain)
+      source: Stadia (alidade_satellite)
   - type: mapviz_plugins/point_click_publisher
     name: new display
     config: