Hello, I have a question.

I am using Noetic.

I want to use robot_localization, so I made a git clone, but when I look at the contents of the file, I see "--.launch.py" and "tf2", which seem to be for ROS2 only.

Question 1.

Can I use robot_localization with ROS Noetic?

I also want to use GPS information in robot_localization.

So now I am thinking of merging "navsattransformnode" and "ekflocalizationnode".

To fuse the two, publish "/gps/fix (sensormsgs/NavSatFix)" to "navsattransformnode", then from "navsattransformnode", publish "/odometry/gps ( navmsgs/Odometry)" must be published from "navsattransformnode".

However, my GPS receiver is made by U-blox and I got the topic "/ublox/fix (sensor_msgs/NavSatFix)" by referring to the following URL.

https://github.com/KumarRobotics/ublox

Question 2.

I think "/gps/fix" should be rewritten to "/ublox/fix" in the file in robot_localization, but I cannot find the corresponding location (file). Therefore, I cannot publish the topic "/odometry/gps". Is there a workaround for this problem?

I thank you in advance.

Thank you.