mf_localization_msgs package (ROS1) msg MFGlobalPosition: global (lat, lng, floor) position MFLocalPosition: ROS local position StatusResponse: service response srv ConvertLocalToGlobal: to convert local position to global position FloorChange: to change floor for gazebo simulation MFSetInt: for set_current_floor service MFTrigger: for services to toggle status RestartLocalization: to restart localization StartLocalization: to start localization StopLocalization: to stop localization