How should I merge the information of the wheel odometer?

introlab / rtabmap

RTAB-Map library and standalone application

https://introlab.github.io/rtabmap

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How should I merge the information of the wheel odometer? #555

Open zhuangxiaopi opened 4 years ago

zhuangxiaopi commented 4 years ago

How should I merge the information of the wheel odometer?Can you tell me what I need to do?

matlabbe commented 4 years ago

It depends with which kind of sensor you want to do fusion and at which level. For wheel odometry and IMU, see robot_localization. If you want to use wheel odometry as guess for visual odometry or lidar odometry, look for guess_frame_id parameter on rtabmap_ros wiki. If you want to only refine wheel odometry rtabmap node with lidar, see this example.