# Can also link yaw rate sensor data with map

I am using gmapping to map the aera with my robot, I am presently using odo data and data from kinect for mapping.

**update after dornhege answer**

I get the odo ticks from the robot, which I convert to the distance travelled by each wheel and theta, which I get from the difference of the distances travelled by wheels divided by wheel base length. I give this to /odom.

Presently I am using this published /odom data for the mapping and navigation.

I even Have a yaw rate sensor on the robot which gives yaw angle (along with acceleration values), How can I use this with robot_pose_ekf which also accepts Roll and Pitch angles, but I only have yaw angels how can I achieve the fused odo data with yaw using robot_pose_ekf.?

Many thanks in advance.

You would just set roll and pitch to 0. Yaw angles are the important ones for slam.

Warning: Ayaw ratesensor's output is not an angle [rad] or [°], it is anangular velocity [rad/s] or [°/s]. P.S: I am aware the question is more than 5 (five) years old, but it can still be found and probably continues to confuse people.