Best way to integrate two GPSs in robot_localiztion?
Hi everyone;
I want to use the robot_localization package in a robot with an IMU, wheel encoders, and two RKT GPS. I know that with just one GPS, the idea is to use a navsat node and an ekf node. The navsat node would take the IMU orientation (correctly configured to read 0 when facing east), the GPS topic, and the output of the ekf node (odometry/filtered). The ekf node would take the imu, the odometry from the wheels encoder, and the navsat node output (odometry/gps).
How about the setup with two GPS? I can use the GPSs to calculate the global orientation because they are very precise and are ~1m apart. Would it be possible to use this orientation (translated and pubilished as an Imu message) as an input for the navsat and ekf nodes? Or is there a way to run two navsat nodes (one for each GPS receiver)?
I really appreciate any help you can provide.
