Revision history [back]

There are a few discussions here:

1. You are probably right to say that using pure odom from wheel encoders is not the best solution for localization on "slippery" terrain. So fusing odom sources (with or without wheel odom) is a good direction if you want to tackle such environments.

2. I am not sure why you mentioned "move_base and robot_pose_ekf dont work well together". I have seen move_base and robot_localization package worked pretty well together. Regardless, if you want move_base to use particular odom source (wheel odom or fused odom or ...), you can make use of remapping when launching move_base.