Ground truth in the real robot can be done using AprilTags. There is a ROS package that implements AprilTags called apriltags_ros.
The following links explain what an AprilTag is and why it's used for global localization:
Note: there is no need to implement this in the Gazebo simulator because you already have a ground truth localization in the /gts topic.
Ground truth in the real robot can be done using AprilTags. There is a ROS package that implements AprilTags called
apriltags_ros.The following links explain what an AprilTag is and why it's used for global localization:
Note: there is no need to implement this in the Gazebo simulator because you already have a ground truth localization in the
/gtstopic.