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You can use robot_localization to fuse the indoor GPS data with the odometry, and a package like move_base or moveit! to do the path planning and motion planning.

You can use robot_localization to fuse the indoor GPS data with the odometry, and a package like move_base or moveit! to do the path planning and motion planning.

You can use robot_localization to fuse the indoor GPS data with the odometry, and a package like move_base or moveit! to do the path planning and motion planning.

May I ask how you are obtaining GPS indoors? Or is that part of your question?