Visual odometry with opencv, raspberry pi, and ardurover?

[gmorph]

Rover with Visual Odometry

Skid-Steering Rover with Visual Odometry

We have recently added a few new features to Rover especially skid-steering rovers (i.e. R2D2 or tank track style frames). This work was started by Tridge’s work for the California MakerFaire a month or two ago. This video and the one below show a couple of improvements we’ve made including: improved handling when the outputs to the motors become saturated. For example if the driver (or autopilot) requests full throttle and full right it’s not possible for both to be achieved. Previously …

Odometry message

Is the odometry message provided by ardurover the same odometry data that gmapping (http://wiki.ros.org/gmapping) need to work? thank!