* We do use RTK GPS.
* In terms of packages, I don't think there was one in particular, but all of the drivers and ROS infrastructure were the big help. RQT and RVIZ are two tools we use the most.
* Yes, we have a certification process with the airport and we need to work worth Transport Canada on operation of the plow. Autonomy is so new that most governments have not caught up to what is going on yet.