I've been working on creating a quadrotor that can autonomously navigate an obstacle course. Thus far, I have a neato xv-11 lidar and IMU data that goes into laserscanmatchernode. Out of laserscanmatcher comes the baselink to odom transform. This transform feeds into slamgmapping along with the scan data to build a map of the local environment. Here is a link to an rqtgraph of what I have running so far: www.dropbox.com/s/7scqst4brhwl7lh/diagram.png

My question is this: Does anyone know of a good way to take the Pose2d estimate from laserscanmatcher and send it to the ardupilot through the GPS port? I want to convince the ardupilot that it has a good GPS lock using the positional estimate. I believe the APM looks for NMEA messages.

I am completely at a loss as to how I should go about this. Any help would be very appreciated.