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Hi, afranceson

I am building a SLAM system which is very similiar to yours (with RPLidar + gmapping).

I'm not familiar with the odometry used in such systems. So can you offer me some information about the odometry you used? Or would you please recommend me a good odometry which is well suited for ROS and my system. FYI, my vehicle is a four-wheel rear-drive car which is made by myself. I'd llike to offer any detail about my vehicle if it is needed.

Thank you in advance!

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