I'm using a vicon system rather than a gyro and encoders to track my Turtlebot's pose. Only problem is, I'm not sure how to modify the /odom topic to take only my vicon data (it currently takes both the vicon data output from my custom node as well as the encoder/gyro data from a turtlebot_navigation node).
Does anyone have experience with this? I'm not sure how to replace the /odom topic properly!
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