I have gmapping working with a skid steer robot while utilizing the Gazebo skid steer plugin to actuate and control my robot. I am attempting to add an IMU and fuse the data from that sensor with the odom data currently being used to achieve the SLAM. Should I implement this similar to that of husky and other "skid steer" robots? Or is there another way to go about this since I am using the Gazebo controller plugin? My main issue is that I am using the actual skid steer plugin whereas they use joint state controllers and cater differential drive to achieve the skid steering.
I attempted to implement a localization.yaml and control.yaml similar to the husky robot and use the robot_localization package to fuse the data however I am confused about how to write the control.yaml. Mainly not sure what to replace the "diff_drive_controller" with under type.
Any guidance would be appreciated.
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