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This is a nontrivial topic... The first question would be: what global coordinate system do you have? GPS? Or none at all and you want the robots to localize each other relatively?

That decides a bit in which direction of research you have to look... Anyway I'm not confident that there exists a finished solution in ROS for your problem. An approximate solution could be to just merge the maps into one using GPS... or try to do cross correlation or something to adjust position errors.