Fusing odometry from wheel encoder and VIO
Hi, so I have a simple robot simulation. I use the gazebo diff_drive plugin so it will generate odometry based on the wheel. I also put the camera and imu plugin, and use the VINS-FUSION (https://github.com/HKUST-Aerial-Robot...), it will also generate an odometry message. Now my tf tree looks like this: :https://drive.google.com/file/d/14Vrukgt4M1uKCGpVharg_OPqjwwvgbZE/view?usp=sharing
I want to fuse these two odometry messages using the robot_localization package (the ekf node). But since my wheel encoder odometry frame does not connect to the vins-fusion odometry frames, I got the following errors: https://drive.google.com/file/d/1C2aD...
Any suggestion about how to use robot-localization, or any other pkgs, to fuse these two odometry messages together? Thanks!!