ROS: libraries for localization and mapping

Install robot localization package:

sudo apt-get install ros-noetic-robot-localization

Add launch file with parameters:

Library for receiving GPS messages and converting to ROS NatSatFix:

git clone https://github.com/ros-drivers/nmea_navsat_driver.git

Convert messages from sensor_msgs/NavSatFix messages to gps_common/GPSFix messages:

git clone https://github.com/swri-robotics/gps_umd.git