Clone this project to the home directory of your machine and run the commands below
cd navigation2
In the nav2-rviz2-container file, update the USER variable to match your machine's username
sudo ./nav2-rviz2-container.sh
source opt/ros/humble/setup.bash
cd opt/ros/humble/share/nav2_bringup/maps/
ros2 launch nav2_bringup localization_launch.py map:=map_cam_odom_exp_170601.yaml
sudo docker exec -it ros-utilities bash
source opt/ros/humble/setup.bash
ros2 service call /reinitialize_global_localization std_srvs/Empty
rviz2
sudo docker exec -it ros-utilities bash
source opt/ros/humble/setup.bash
ros2 launch nav2_bringup navigation_launch.py