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_sources/tutorials/docs/navigation2_with_gps.rst.txt

@@ -9,9 +9,14 @@ Navigating Using GPS Localization
 - `Tutorial Steps`_
 - `Conclusion`_
 
-.. image:: images/Gps_Navigation/interactive_wpf.gif
-  :width: 600px
-  :align: center
+
+.. raw:: html
+
+    <h1 align="center">
+      <div style="position: relative; padding-bottom: 0%; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe width="708" height="400" src="https://www.youtube.com/embed/R_5HW1TUDQk?autoplay=1&mute=1" frameborder="1" allowfullscreen></iframe>
+      </div>
+    </h1>
 
 Overview
 ========
@@ -411,4 +416,4 @@ This tutorial discussed the usage of a GPS sensor for global localization using
 
 The tutorial should be a good starting point for setting up autonomous navigation using Nav2 on an outdoors robot, however users should keep in mind that GPS is just a means for providing global localization to the stack, and that all cartesian tools in Nav2 are still available for going past the GPS waypoint follower and building custom autonomy applications according to each use case.
 
-Happy outdoors navigating!
+Happy outdoors navigating!

tutorials/docs/navigation2_with_gps.html

@@ -981,8 +981,11 @@
 <li><p><a class="reference internal" href="#tutorial-steps">Tutorial Steps</a></p></li>
 <li><p><a class="reference internal" href="#conclusion">Conclusion</a></p></li>
 </ul>
-<a class="reference internal image-reference" href="../../_images/interactive_wpf.gif"><img alt="../../_images/interactive_wpf.gif" class="align-center" src="../../_images/interactive_wpf.gif" style="width: 600px;" /></a>
-<div class="section" id="overview">
+<h1 align="center">
+  <div style="position: relative; padding-bottom: 0%; overflow: hidden; max-width: 100%; height: auto;">
+    <iframe width="708" height="400" src="https://www.youtube.com/embed/R_5HW1TUDQk?autoplay=1&mute=1" frameborder="1" allowfullscreen></iframe>
+  </div>
+</h1><div class="section" id="overview">
 <h2>Overview<a class="headerlink" href="#overview" title="Permalink to this headline">¶</a></h2>
 <p>This tutorial shows how to set up a localization system using a GPS sensor(s) as the source of global positioning, robot_localization (RL) for sensor fusion, and how to use Nav2 to follow GPS waypoints. It was written by Pedro Gonzalez at <a class="reference external" href="https://www.kiwibot.com/">Kiwibot</a>.</p>
 </div>