add a navigator controller

[zrzz-hq]

Navigator Controllers

Architecture

• Server: gather and combine all control commands from clients, then publish
• Client: issue control commands to the server. There is only one client called keyboard controller, but it's easy to add more in the future.

Usage

Launch the simualtion and the server

ros2 launch navigator_bringup gazebo.launch.py

Launch the keyboard controller

ros2 run navigator_controller keyboard_client_node

Demo

Screencast from 2026-04-27 10-52-39.webm
I pressed w -> s -> a -> d -> left arrow -> right arrow. The simulation is slow, but you can see the boat moving.