The objective of this thesis is to design and implement a real-time positioning system for an autonomous agricultural robot. The system will be built using ROS2 packages and it will be tested in a gazebo environment to simulate some real scenario. The software will be integrated in an agricultural autonomous robot produced by Black-Shire, the robot’s name is RC3075. The robot already has some sensors to localize such as Global Navigation Satellite System (GNSS) and Real-Time Kinematics (RTK). The big problem with only these sensors is that when GPS signal is low quality, the positioning of the robot becomes difficult and inaccurate.