Fusing GPS data for Gmapping

[AswinP7]

Is fusing GPS data along with the imu and laser data for creating Gmapping (not for robot localization) possible ?

[methylDragon]

Heya! It should be possible, you basically just need to make sure that the odometry TF message and odometry ROS message (they're different!) that gets seen by GMapping is the fused one.

I think gmapping should have a configuration parameter somewhere for that. And robot_localization already has one for publishing TF messages.