Localize turtlebot3 with landmarks
Hello everyone, for my project I'm using turtlebot3 waffle and a tag, to have a precise localization, thus nullifying the odometry error that naturally accumulates during navigation. My idea was to have a node publish a message to overwrite the robot estimated pose, but if I publish it on /odom topic, the robot will go back to its original estimated position once I stop publishing the message. After further investigation I found that turtlebot3_node (https://github.com/ROBOTIS-GIT/turtle...) stores a private variable robot_pose_[], and that's why it goes back to its estimated pose. Now, this variable is computed using data from all the sensors, so one should go through every sensor variable and set it to a default value. This seems really complicated to me, and I couldn't find anything online related to the correction of odometry, while it being one of the most investigated field of research. Has really no one attempted to correct the odometry estimation provided by turtlebot?
