How can I receive a geo-referenced pose from google cartographer?

asked 2019-09-05 07:49:10 -0500

RosNav gravatar image

I have a map created by the cartographer where I can localize in. This is working quite well. I have a high performance RTK and a velodyne ultra puck. With these, using the IMU of the RTK and the GNSS data combined with the velodyne point-cloud, I can localize on a map created with the Google cartographer using pure localization. My aim is receiving a georeferenced pose from the google cartographer. Is that possible or do i miss sth out? I could not find an answer yet.

Thanks for helping.

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