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Indoor localization with Gazebo anchor tags

Hi everyone,

I am lacking of ideas on how to actually implement localization anchors in Gazebo with the aim to localize a mobile tag (in my case Husky robot). The basic scenario should resemble the one in the Figure below, in which the robot pose in retrieved via triangulation. Could someone give me a rough idea and big steps on how to solve a remote localization for my robot?

Thanks in advance