Indoor Robot with No absolute starting yaw
Our indoor wheeled robot with wheel encoders has an IMU without magnetometers. At startup in a random orientation the yaw output is 0. We are able to follow a wall and cross into another room where an internal GPS is set up to determine X, Y and yaw with respect to global map frame of the room. We are using robot_localization
for fusion, but are unsure how to switch to the room map without causing a discontinuity in the localization and therefore in the motion. Is it possible to go from map1 --> odom to map2 --> odom ?