How to use external odometry as motion prediction in ICP odometry.

[zafaryab-a]

I want to enable using external odometry (Wheel Encoder) as motion prediction in ICP odometry. I am unable to find any parameter for same.

[matlabbe]

You should use guess_frame_id parameter of icp_odometry node to use TF from your wheel odometry. Your wheel odometry will then be used as motion prediction, otherwise constant velocity model is used.