The odometry source in gazebo classic can be switched between world (ground truth) and encoders. Such feature is not available in the diff drive plugin in gazebo fortress. The odometry (including the odom -> base_link transform) is dependent on encoders
Desired outcome
There must be a launch argument for gz.launch.py to switch between ground truth and encoder odometry (both odom->base_link transform and /odom topic)
No Ground Truth data from Gazebo Fortress
Description
The odometry source in gazebo classic can be switched between world (ground truth) and encoders. Such feature is not available in the diff drive plugin in gazebo fortress. The odometry (including the odom -> base_link transform) is dependent on encoders
Desired outcome
There must be a launch argument for
gz.launch.pyto switch between ground truth and encoder odometry (both odom->base_link transform and /odom topic)