Localizing and mapping with only tf,GPS, and scan

asked 2016-11-14 06:13:41 -0500

orsonl gravatar image

updated 2016-11-14 07:00:37 -0500

I need to do localizing and mapping in an environment. I don't want to use gmapping since GPS and IMU on the robot can already give a very accurate pose estimation. My question can be divided into two sub-questions:

  1. How to use IMU and GPS data to do localization?

  2. How to build/update map with tf( transformation between map and bask_link) and scan?

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