I am currently testing localization for AMR using a global localization system, and I am considering introducing wheel odometry to make the system more robust.
I believe the ZED SDK doesn’t support wheel odometry input, so I think we need to fuse VIO and wheel odometry using another system. Is that understanding correct?
In that case, is it possible to edit the odometry output by the ZED SDK in an external system and then return the odometry to the global localization system?
Also, are there any plans for the ZED SDK to support wheel odometry in the future?
I’m not very good at English, so I apologize if any of my expressions are hard to understand.
Please note that wheel odometry will introduce a high level of uncertainty because of the intrinsic high covariance of this source, caused by friction and slippery conditions.
Thank you for your response.
Based on your input, I’m considering implementing this using robot localization.
This isn’t related to the ZED SDK, but I have one question.
To fuse GNSS and VIO, I believe we need to align the VIO direction with the Earth’s orientation. Is this achievable with robot localization?
Currently, I’m stuck at the point of converting GNSS data using the navsat_transform_node.
I would appreciate your advice.