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The short answer to this is to not write your own odometry fusion algorithm from scratch, unless you have to do this as part of an assignment or for research. The existing robot localization package is very powerful and is designed for doing exactly this.

You will need to modify your code so that your encoder information is published in a twist message so that it can be sent to the robot localization node, then you can follow the guide on their website to configure the sensor fusion. There is a bit of a learning curve when it comes to using this node, but it's worth the effort when it's setup properly.