It looks pretty awesome. For the fusion you could use the robot_localization package.
Here you have the link for the API. The point of this algorithm is that it can fuses a NavSatFix message and a IMU message (also odometry message can be used).
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It looks pretty awesome. For the fusion you could use the robot_localization package.
Here you have the link for the API. The point of this algorithm is that it can fuses a NavSatFix message and a IMU message (also odometry message can be used).