how to fuse GPS data and AMCL for robot localization !!
Hello, I'm already using robot_localization package ekf node.EKF fuses odometry from wheel encoders + IMU and gives a better odometry. I want to use second ekf node for getting better global localization. I just have a static map and using AMCL for global localization. For improving AMCL global localization accuracy, I have bought a GPS and want to use it to improve AMCL pose estimation. Is it the right way to fuse GPS data(according to odom frame) + amcl pose with ekf node to get better estimation??
Thank you.
I wonder if it is ok to give Amcl pose estimate + GPS pose estimate to ekf for better localization. Does robot_localization package fuse these 2 data in an efficient way and publish a map->odom tf?
I wonder the common way to use GPS data for localization in a known map!! I want to use GPS data in most efficient way in localization