Hi Kyler, here I uploaded a starting point for using the robot_localization. I am adapting it to your system yet. The navsat transform node it is already done and "just" the ekf node must the set: [tractobots_robot_localization](https://github.com/kylerlaird/tractobots/tree/robot_localization/src/tractobots_robot_localization) More or less it is the same Tom proposed. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/45) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: