Description
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:
- AprilTags Visual Fiducial System
- Localizing with AprilTags
- indoor self-localization.pdf
- Carrot navigation with AR Tags
- ar_track_alvar
- AR Tags in Gazebo and parts 2
Note: there is no need to implement this in the Gazebo simulator because you already have a ground truth localization in the /gts topic.