switch between GPS and AMCL based on location
Background on my robot situation:
Outdoor robot. Not waterproof. Not submersible.
In-ground swimming pool. No fence between robot and pool.
GPS that is very accurate (5 cm) when not near the house but terrible near the house (2 - 5 meter jumps near house).
Laser scanner that's good to about 4 - 5 meters.
ODOM is pretty good and have IMU with mag.
Strong preference to keep robot out of the pool.
I would like to be able to use the NAV Stack relying on AMCL near the house, and then transition to using primarily the GPS when away from the house (the map is empty away from house so AMCL provides no location data there). GPS should be ignored near the house. There is nothing near the pool for laser scanner to see so must rely primarily on GPS around the pool.
Questions:
Have any of you had success with a NAV Stack setup that used different "weighting" on AMCL or GPS based on location within the map? If so, how did you approach?