Can Gmapping subscribe to an odometry data that is not determined from wheel enconder?

asked 2019-06-25 18:53:50 -0600

imasoul2 gravatar image


For one of my projects, I am working with the realsense T265 camera which can perform visual odometry and the camera is mounted onto the turtlebot 3 from Robotis. From visual odometry of T265 camera, I am supposedly able to have a more accurate estimate of the robot's pose and I want to somehow fuse that information to the Gmapping as I wish to implement navigation functionality onto the robot. The T265 can publish the odometry messages.

Could you tell me if it would be possible to do so and if it is, could you show me a guidance or tips on how to start this process?

Thank you.

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The wiki/gmapping page lists the base_link->odomtransform as a required piece of input. Nowhere does it say anything about wheel odometry. As long as something publishes the odom transform (note: that is not an nav_msgs/Odometry msg) it should work.

gvdhoorn gravatar image gvdhoorn  ( 2019-06-26 02:11:01 -0600 )edit