How I built ROS odometry for Ackermann vehicle without encoder

Odometry for mobile robot is defined as estimated location of robot at particular time relative to its starting position using information about its motion. For instance, in wheeled robots, knowing number of rotations of wheel and the steering angle an estimate can be made regarding location of the robot at a particular point in time. Odometry should not be confused with general localization problem. In localization i) robot estimates its position in given map ii) it uses all sensors available to it to estimate that position Localization can , and mostly always, use odometry information to calculate its position. This information is then fused with other sensor information to calculate more precise position. <a href="https://medium.com/@waleedmansoor/how-i-built-ros-odometry-for-differential-drive-vehicle-without-encoder-c9f73fe63d87">Learn More</a>