Fusion of same type of data

[ghost]

Hi,
In the examples I see that different types of sources are used for fusion like the below:
((angular_velocity) (geometry_msgs::Vector3Stamped) (vector.z)) ((acceleration) (geometry_msgs::Vector3Stamped) (vector.y)) ((velocity_wheel_left) (std_msgs::Float32) (data)) ((velocity_wheel_right) (std_msgs::Float32) (data))

Would it be possible to fuse the same type of raw data e.g. velocity from wheel and camera

[dratasich]

Yes it is possible.

Add an additional topic+field in the measurement vector (TOPICS_IN) and set an appropriate OBSERVATION_MODEL (maps state to measurement). In your example: same state variable velocity is mapped to two different velocity measurements/topics (wheel and camera).

Best,
Denise