How to make rtabmap use both visual odometer and wheel odometer?
I use RTABmap algorithm on my robot.
I only have a ZED stereo camera, and the robot can publish odometer information(nav_msgs/Odometry
, sensor_msgs/Imu
) using acceleration sensors and wheel encoders.
When I only use the visual odometer for mapping, I found that the odometer will be lost when the robot bumps over the ground cracks or encounters a scene with a lack of texture.
I want to know if it is possible to use both the wheel odometer and the visual odometer in the above situation to reduce the loss of the odometer?
If so, how should I fuse them?