viplanner: goal position

[wowowolala]

Hi, thank you for your excellent work!
I watched a video of a dog walking in the real world, and I’m curious about how to get the goal position in such a scenario.
Should I use GPS or a map? If you choose to use a map, how can you achieve localization?

[pascal-roth]

Hi,
we used a Map build by a Open3D Slam https://github.com/leggedrobotics/open3d_slam