When receiving wheel odometry, we more often than not have to create our own vehicle model, as we only receive the wheel rotation rate, in rad/s, and the wheel steering angle, in radians.
A good way to translate this into viable information is using Ackerman steering geometry.
This function should be implemented for 2D and 3D space, and for 3-wheeled and 4-wheeled vehicles.
More about Ackerman steering:
https://en.wikipedia.org/wiki/Ackermann_steering_geometry
https://www.xarg.org/book/kinematics/ackerman-steering/
When receiving wheel odometry, we more often than not have to create our own vehicle model, as we only receive the wheel rotation rate, in rad/s, and the wheel steering angle, in radians.
A good way to translate this into viable information is using Ackerman steering geometry.
This function should be implemented for 2D and 3D space, and for 3-wheeled and 4-wheeled vehicles.
More about Ackerman steering:
https://en.wikipedia.org/wiki/Ackermann_steering_geometry
https://www.xarg.org/book/kinematics/ackerman-steering/