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methylDragon / ros-sensor-fusion-tutorial

An in-depth step-by-step tutorial for implementing sensor fusion with robot_localization! 🛰
MIT License
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Fusing GPS data for Gmapping #6

Open AswinP7 opened 4 years ago

AswinP7 commented 4 years ago

Is fusing GPS data along with the imu and laser data for creating Gmapping (not for robot localization) possible ?

methylDragon commented 4 years ago

Heya! It should be possible, you basically just need to make sure that the odometry TF message and odometry ROS message (they're different!) that gets seen by GMapping is the fused one.

I think gmapping should have a configuration parameter somewhere for that. And robot_localization already has one for publishing TF messages.