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I'm using ROS melodic on a Raspberry Pi 3.

Basically I need to keep track of the robot as it travels. Using the ROS navigation stack I can track where the robot is, but I have to manually give it the initial pose. I would like to do this with GPS and an IMU. I'll be using the robot in the presence of a magnetic field so I don't think the IMU will give correct data, so I imagine I would need to use this in combination with a lidar scanner. I'm quite new to ROS so any direction would be quite helpful.


Originally posted by liambroek on ROS Answers with karma: 5 on 2021-01-25

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You can use robot_localization package, the link below is a similar topic fusing IMU and GPS.

https://answers.ros.org/question/200071/how-to-fuse-imu-gps-using-robot_localization/


Originally posted by AmirSaman with karma: 130 on 2021-02-03

This answer was ACCEPTED on the original site

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