ArduPilot version : 3.2.0
I am using Navio2 for development of skid steering rover. The rover used for autonomous navigation using GPS and IMU. To improve accuracy I wanted to integrate wheel odometry data to Navio2 to improve the accuracy. However, Navio2 does not have any provision for AUX input where we usually provide wheel encoder information in pixhawk.
Encoder details: https://robu.in/product/orange-1000-ppr-ab-phase-incremental-optical-rotary-encoder/
Can somebody help me to integrate wheel Odom data to navio2? Is there a hardware limitation to integrate wheel encoders? If so, is there is a method to create a ROS node to compute the odometry information and relay back to ardupilot?