I'm reading [Publishing Odometry Information over ROS](http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom). Does ROS move base require the base controller to give the position information on the Map? Is it mandatory ?
I thought move base is able to figure out the pose information from the linear velocity and radian velocity. Would [robot_pose_ekf](http://wiki.ros.org/robot_pose_ekf) help if I don't want to do the computation?
I'm using a four wheel car, it's my own make.
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