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Hi mig, I know amcl can get the base_link position relative to map, and it corrects the drift by publishing the tf between map and odom.

In my project, I subscribe the /odom and /ips_pose(which is from my indoor position system), correct /odom according to /ips_pose, and then publish tf between odom and base_link.

I wanna ask which solution is better?

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