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小强的编码器和imu是怎么融合发布odom数据的？

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xioqishi last edited by

我看到网上资料，imu和编码器融合是通过robot_pose_ekf这个包来发布融合过的数据。
请问一下小强是通过什么方法融合的啊。
谢谢
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