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No changes, you just need to have your visual slam output be of the right type on the /odom topic. There's not anything special about wheel encoder odometry. With that said your odometry will jump on loop closures for a VSLAM, so I might recommend instead using just visual odometry without loop closure.
| | 2 | No.2 Revision |
No changes, you just need to have your visual slam output be of the right type on the /odom topic. There's not anything special about wheel encoder odometry. With that said your odometry will jump on loop closures for a VSLAM, so I might recommend instead using just visual odometry without loop closure.
edit: _especially_ because gmapping is a filter based slam implementation
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