robot_localization global param

asked 2019-08-15 13:47:19 -0500

EdwardNur gravatar image

I have a wheel odometry which is in odom->base_link and I am producing this TF and publishing odom topic based on encoders.

Now, I have a visual odometry in place (orb slam) and I can produce a PoseWithCovariance type message where covariance matrix consists of 0 and 1s. So time to time, while navigating or doing a SLAM, I want to correct my pose due to wheel odometry errors and I was thinking to use VO in robot_localization package to correct it. If I will fuse the VO in a global frame (map -> base_link) will it correct the position of my robot based on map->odom tf?

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