Hi there,

This is more of a high level question, but I'll give some background to explain what I'm doing.

I have a diff drive robot up and running with ROS2. I am using odometry data from the motors to calculate the robots position. I do not have access to lidar, but am instead using data matrix tags to localize the robot. These tags give the robots offset in the x-y plane as well as the angular offset. In order to account for drift in the x-y plane I can apply a transform between the map and odom frame.

What I'm wondering is how do other localization methods account for angular drift? A rotation of the odom transform would cause the robot to translate as well.

I understand this is quite a vague question, however, any help would be greatly appreciated. Thanks!