How to fuse gmapping pose data with another sensor like odometry using ukf in robot_localization?

asked 2021-04-01 21:53:48 -0600

georgie96 gravatar image

Even though I have gone through the documentation on robot_localization, I am still confused about how to configure the launch and yaml files. Also, in one of the presentations it was mentioned that the ukf node can fuse gmapping data with other position sensor data like imu's. But I am not sure how one can implement this. How do you get the pose topic from gmapping? Also, I am confused about what kind of output we can expect from the ukf node? Can we decided which of 15 parameters it will output?

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