Indoor 'GPS' Fusion with ROS

Check out indoor_gps_ws for the implementation!

An implementation of sensor fusion using the extended Kalman Filter (EKF) node from robot_localization

It includes a custom message adapter written for translating ROS messages from the marvelmind indoor 'GPS' ultrasonic beacons into message types that robot_localization can use. (hedge_msg_adapter)

Visit the in-depth step-by-step tutorial for how to do something like this yourself here!

Pre-Requisite Knowledge

• ROS
• Linorobot stack (or other suitable robots using the standard ROS Navigation stack)
• Marvelmind Indoor 'GPS' beacon familiarity
• Highly recommended: Reading the sensor fusion tutorial alongside this