For Robotics Teachers: ROS2 EKF Sensor Fusion with Wheel & Laser Odometry | Nav2 Tutorial #18

Wheel odometry drifts. Fix it by fusing wheel encoders with laser-based scan matching through an Extended Kalman Filter — a complete step-by-step tutorial.
Robot Kit Used (including the environment): BotBox Robot Teaching Kit: https://www.theconstruct.ai/botbox-warehouse-lab/

Learning Points:
✅ Add a laser-odometry node that estimates motion by comparing consecutive scans.
✅ Feed wheel and laser odometry into an EKF to produce a single, drift-corrected estimate.
✅ Tune the filter so each sensor’s strengths cover the other’s weaknesses.
✅ Compare raw wheel odometry against the fused output in RViz2 to see the improvement live.


📁 *ROS project link:https://app.theconstruct.ai/l/749f16bb/


Related courses:
* C++ for Robotics (Free): https://app.theconstruct.ai/courses/c-for-robotics-59/
* ROS2 Basics in 5 Days (C++): https://app.theconstruct.ai/courses/ros2-basics-in-5-days-c-325/
* ROS2 Navigation: https://app.theconstruct.ai/courses/ros2-navigation-humble-148/


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[For Robotics Teachers Open Class], a weekly series of videos by The Construct Robotics Institute, aims to make robotics education easier by helping teachers teach a wide range of robotics topics through hands-on practice.

Each session provides a ROS-based project (referred to as ROSJECTs 🦾 📁) for all attendees, including notebooks, code, and robot simulations. Led by ROS expert Desire, you'll see how robotics teaching and hands-on practice come together in real time.


We're excited to share this series with you! If you have questions or want to explore new topics, drop us a comment below.

👨‍🏫 Class Creator: Desire (ROS Tutor @The Construct Robotics Institute )



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