Fuse odometry (IMU and wheel odometry) using robot localization. This gives us the transform from odom -> base_link which is required for localization. It is the first step for setting up localization frames. Second step is the map -> odom frame which was giving me trouble; but I'm putting up this PR for now. Also adds IMU and GPS sensors into the sim.
Fuse odometry (IMU and wheel odometry) using robot localization. This gives us the transform from odom -> base_link which is required for localization. It is the first step for setting up localization frames. Second step is the map -> odom frame which was giving me trouble; but I'm putting up this PR for now. Also adds IMU and GPS sensors into the sim.
Screencast from 2024-05-18 08:54:20 PM.webm