robot_localization: sensor frame in differential mode
I'm trying to fuse the output of a VIO package (odometry msgs) and GPS. I have been reading the source code of robot_localization
and noticed that when using the differential
mode, the resulting velocity is expressed in the base_link_frame
(line). The output of my VIO package is expressed in cam frame (I mean that the odometry messages corresponds to the pose of the camera during the navigation). Is there any way to fuse this output using differential
mode? To implement this feature in robot_localization
, would it be enough to rotate the resulting velocity or am I missing something? I'm not sure what the rotation would be anyway.